Design an Adaptive PID Control Based on RLS with a Variable Forgetting Factor for a Reconfigurable Cable-Driven Parallel Mechanism
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Bibliographic record
Abstract
This paper proposes a two-layer adaptive proportional–integral–derivative (PID) controller for precise pose control of a six-degree-of-freedom cable-driven parallel robot with eight cables, specifically designed to handle dynamic changes caused by the movement of attachment points. The positions of the attachment points on the base are adjusted to avoid collisions between humans and cables, where humans and robots are working in a shared workspace. The inherent nonlinearity of the robot system was addressed using model identification based on the recursive least squares (RLS) algorithm equipped with an adaptive forgetting factor. This method enables real-time updates to the dynamic model of the robot, thereby ensuring accurate parameter estimation as the attachment points move. The combination of the PID controller and RLS algorithm enhances the system’s ability to respond effectively to changing dynamics. Simulation results highlight the superior accuracy, robustness, and adaptability of the proposed approach, making it well suited for applications requiring a reliable performance in dynamic and unpredictable environments. The proposed method can guarantee human safety, while the end effector tracks the desired trajectory.
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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