A Practical Approach for Designing Fault-Tolerant Position Controllers in Hydraulic Actuators: Methodology and Experimental Validation
Bibliographic record
Abstract
Abstract Design of fault-tolerant controllers (FTC) for hydraulic actuators is one of the challenges in the area of fluid power systems. In real applications, it is not possible to model or measure some faults accurately. For example, an accurate model for the actuator internal leakage has not been well-established. To prevent the actuator malfunctioning due to the faults (e.g., the internal leakage), there is a need for designing a fault-tolerant control system. In this paper, a methodology is proposed to design an FTC for the hydraulic actuators using experimental data only. In the proposed design procedure, there is no need for either having a prior knowledge about the system and fault models or measuring and detecting the fault during the experiments. The methodology is based on introducing synthetic errors into the hydraulic actuator that is otherwise operating in the healthy mode. Synthetic errors are used to emulate the effect of the fault on the system response. The wavelet transform (WT) is utilized to quantify the effect of the synthetic errors on the error between the desired and actual displacement data. Results of the wavelet analysis are then employed for designing a fractional-order proportional-integral-derivative (FOPID) controller tolerant to the fault. The proposed approach is exemplified with the design of a controller tolerant to the internal leakage. Several experiments are conducted to verify the efficacy of the FOPID-based FTC. The experimental results prove that the proposed methodology works well for the hydraulic actuation system experiencing the internal leakage.
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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 | 0.002 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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".