Design and experimental evaluation of robust variable structure control for hydraulic actuators
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Bibliographic record
Abstract
In this article we design and experimentally evaluate a variable structure force control law for a hydraulic system interacting with the environment. For this purpose we use a nonlinear mathematical model where the nonlinear dynamics are explicitly addressed in order to achieve robust performance over a wide range of operating conditions. The sliding mode procedure is carried out to design a robust controller that satisfies performance specifications for force regulation. The controller is derived using the equivalent control method complemented by a reaching law approach to further improve the performance. After deriving the dynamics of the equilibrium manifold, rigorous stability verification for the system is provided. The controller was implemented on a fully instrumented hydraulic actuator. A set of experiments were performed to study the effect of variation in force set-point, supply pressure, hydraulic parameters, and environmental stiffness. The experimental results show that the proposed controller is robust to the variation of hydraulic parameters as well as environmental stiffness.
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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)
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