Adaptive output force tracking control of hydraulic cylinders
Bibliographic record
Abstract
With respect to the output force control problem of the hydraulic cylinders, an adaptive control scheme is proposed by using direct output force measurements through loadcells. Due to the large and somewhat uncertain piston friction force, cylinder chamber pressure control with Coulombviscous friction compensation may not he sufficient enough to achieve a precise output force control. In the proposed approach, the output force error resulting from direct measurement is used to update the parameters of a novel friction model which includes not only the Coulomb-viscous friction force in sliding motion, hut also the output force dependent friction force in presliding motion. The experimental results achieved on a hydraulic setup comprised of two hydraulic cylinders in pull-pull configuration demonstrate a frequency response of ±ldB up to 20Hz. The excellent output force (joint torque) control performance implies the dynamic equivalency between the hydraulic actuation and the electrical actuation up to 10 ~ 20Hz.
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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) | 0.000 | 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)
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".