Improved Active Disturbance Rejection Control for the Knee Joint Motion Model
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Bibliographic record
Abstract
This work focuses on design of trajectory-tracking control based on active disturbance rejection control (ADRC) controller for knee joint exoskeleton device. The device is worn by disable patients and it is actuated by ADRC to perform the exercises prescribed by physician doctor for rehabilitation of humanoid's lower limb. In order to improve the tracking performance and robustness characteristics of ADRC, minor modification has been made in its structure, which is represented by adding feed forward control signal to reference angular acceleration. The numerical simulations via MATLAB software environment have been conducted with various model uncertainties and external disturbances to assess the performance of modified control scheme. The proposed controller showed improvement in trajectory tracking error, rejection of exerted disturbances, and robustness against parameter uncertainties.
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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