Modeling and Robust Discrete-Time Sliding Mode Control Design for a Fluid Power Electrohydraulic Actuator (EHA) System
Bibliographic record
Abstract
This paper studies the design of a robust discrete-time sliding mode control (DT-SMC) for a high precision electro-hydraulic actuator (EHA) system with nonlinear actuator friction. Nonlinear friction in the hydraulic actuator can greatly influence the performance and accuracy of the hydraulic actuators; however, it is difficult to accurately model nonlinear friction characteristics. In this paper, it is proposed to characterize frictions as an uncertainty in the system matrices. Indeed, the effects of variations of the nonlinear friction coefficients are considered as norm bounded uncertainties that span a bounded region to cover a wide range of real actuator friction. For such a discrete-time dynamic model for the EHA system with system matrices uncertainties and a nonlinear term, a sufficient condition for the existence of stable sliding surfaces is proposed by using the linear matrix inequality (LMI) approach. Based on this existence condition, a discrete-time sliding mode controller is developed such that the reaching motion satisfies the discrete-time sliding mode reaching condition for uncertain systems. Simulation and comparison studies on the EHA system model illustrate the effectiveness of the proposed method. The study is simulation based only as it is important to establish the feasibility and stability of the controller before attempting to apply the controller to a physical system.
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How this classification was reachedexpand
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 | 0.000 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".