Sliding mode control for an electrohydraulic actuator system with discontinuous non-linear friction
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Bibliographic record
Abstract
This paper considers the application of a sliding mode controller (SMC) to a high-precision electrohydraulic actuator (EHA) system with non-linear discontinuous friction effects. An important consideration in such systems is the oscillations that occur in the system response owing to friction for small input signals at cross-over regions where the velocity changes sign. A new model for a high-precision hydrostatic actuation system is developed to investigate the effects of discontinuous and non-linear friction. This model is used in the development of a sliding mode control strategy. A significant result from this study is that the SMC can suppress such oscillations. In addition, the paper uses a linear quadratic approach for defining a discrete-time sliding surface for non-linear systems. A comparative study involving the application of the proposed SMC versus a gain-scheduled proportional controller is presented.
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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