Stable control of an electro-hydraulic actuator during contact tasks: Theory and experiments
Bibliographic record
Abstract
This paper describes a systematic approach for controller design and stability analysis of hydraulic actuators during contact task. The goal is to design and experimentally evaluate a robust controller that: (i) is capable of following a reference position or a reference force in free or constraint space, respectively and (ii) guarantees the stability during the transition phase. A piecewise continuous controller is designed which regulates the actuator's position and upon contact with the environment switches to a force controller. Since the system is nonsmooth due to a discontinuous controller, a new extended version of Lyapunov's second method for nonsmooth systems is used for stability analysis of the developed control system. The stability is proven by using a smooth Lyapunov function candidate under the condition of existence and uniqueness of Filippov's solution (1964, 1979). Experimental results verify that the proposed controller can effectively control contact tasks; meanwhile it is realizable and therefore suitable for practical implementation.
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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) | 0.002 | 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".