PRECISION CONTOUR TRACKING USING FEEDBACK-FEEDFORWARD INTEGRATED CONTROL FOR A 2-DOF MANIPULATION SYSTEM
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents a novel approach for precision contour tracking through combining feedback PID and feedforward position domain ILC (PDILC) control for a multi-axis manipulation system. Traditional control approaches in time domain suffer from poor synchronization of relevant motion axes and result in restriction for contour tracking tasks. In the proposed PID & PDILC design, a 2-DOF system is treated as a master-slave cooperative motion system. The position information of the master motion axis is integrated into the PDILC controller of the slave motion axes, which makes the PDILC learn from contour errors instead of individual axis errors. The selection and tuning of parameters for the PID and PDILC were conducted based on the computation in a lifted matrix format of the stability and convergence conditions. The performance of the PID & PDILC controller was evaluated by comparisons with PID and cross-coupled ILC controller through experiments on a multi-axis precise positioning stage. The proposed PID & PDILC design enhances the precision contour tracking of the testbed.
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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