Lyapunov-based friction compensation for accurate positioning of a hydraulic actuator
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Bibliographic record
Abstract
A Lyapunov-based discontinuous friction compensation technique is developed for the position regulation of a hydraulic actuator. The control scheme is capable of asymptotic position regulation with no steady-state error despite friction effects. Although, no knowledge of actuator friction, servovalve dynamics, or hydraulic parameters is required for control action, stability and effectiveness of the control scheme considering hydraulic nonlinearities, servovalve dynamics, and realistic friction model is verified both analytically and experimentally. Due to the discontinuity of the control law and the friction model, the control system is nonsmooth. Therefore, existence, continuation and uniqueness of the Filippov's solution are, first, proven using Filippov's solution theories. The extension of LaSalle's invariance principle to nonsmooth systems is then employed to prove the asymptotic convergence of the system trajectories to the equilibria. Experimental results verify the effectiveness of the proposed controller in counteracting frictional effects and asymptotic convergence of the system to the desired position with no steady state error.
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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 | 0.000 | 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 | 0.000 | 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)
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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