Nonlinear Modeling and Tracking Control of a Hydraulic Rotary Vane Actuator
Bibliographic record
Abstract
Abstract Rotary vane actuators as rotational drives provide rotational movements directly because they are constructed as a joint and actuator in one. So it is possible to pass on the disadvantageous transmission kinematics used with the so far usual differential cylinders at the arms of large manipulators. However, the use of hydraulic rotary vane actuators is associated with high internal oil leakage and/or high friction. Therefore, a nonlinear dynamic model for such an actuator, driving a rigid robot arm, as well as its nonlinear control are derived. To achieve tracking control a model based control law is set up using fundamental linear differential equations for the tracking error. The control law is implemented and tested on a testbed, the produced experimental results are presented. The same control algorithm can also be used to realize nonlinear disturbance attenuation for hydraulic rotary vane actuators via tracking control. (© 2005 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 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 source (direct Gemma or distilled Codex), 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".