Robust Position Control of an Electrohydraulic Actuator With a Faulty Actuator Piston Seal
Why this work is in the frame
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Bibliographic record
Abstract
The development of a fault tolerant control (FTC) strategy to compensate for the degrading effects of fluid leakage across a faulty actuator piston seal in an electrohydraulic positioning system is presented. Due to relatively large variations in the dynamics of the plant, accomplishing the FTC task with a single controller requires a compensator of relatively high gain. Hence, the problem is first reformulated by discretizing the desired range of fault tolerance into a number of distinct levels. Next, a set of low gain local controllers is synthesized via quantitative feedback theory, such that the resulting closed-loop systems all conform to a priori defined performance specifications. Each controller is designed to compensate for a specific level of leakage. A simple switching algorithm is then employed to determine the appropriate control action by scaling each controller’s output based upon an estimate of the leakage level. Experimental results illustrate the ability of the designed FTC scheme to compensate for the degrading effect of the leakage fault.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it