Quasipassivity-based robust nonlinear control synthesis for flap positioning using shape memory alloy micro-actuators
Bibliographic record
Abstract
This paper proposes a quasipassivity-based robust nonlinear control law for the position control of a rotary flap aimed at stabilizing the free-to-roll motion of an aerial vehicle. An antagonist-type shape memory alloy microactuator (SMA) is used. The plant is modeled as a cascade decomposition comprising a 2nd-order, parametric-uncertain system excited by a bounded exogenous aerodynamic moment and a 1st-order heat conduction system characterized by a hysteretic output. The control objective is to warrant accurate and fast rotation of the flap at an angle determined by the outer-loop controller. The control law is obtained from subsystem decomposition that is suitable for quasipassivation by application of feedback and feedforward control. The cascade control structure is composed of 1) sliding mode control with boundary layer, which robustifies the flap positioning, and 2) PD control that compensates for the delay induced by the hysteretic characteristics of the SMA. The control scheme provides ultimate boundedness (UB) of tracking error trajectories and robustness to uncertain, bounded, stiffness constant and aerodynamic moment. Simulations validate the proposed approach.
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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".