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Fig 1.

Dynamics-oriented hardware system architecture (Icon source from: https://icon.sucai999.com/).

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Fig 1 Expand

Fig 2.

Operational flow of improved hardware system (Icon source from: https://icon.sucai999.com/).

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Fig 2 Expand

Fig 3.

Structure of the MUP software system (Icon source from: https://icon.sucai999.com/).

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Fig 3 Expand

Fig 4.

Operational flow of the SMUP software system (Icon source from: https://icon.sucai999.com/).

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Fig 4 Expand

Fig 5.

Operational flow of SH hydraulic controller model (Icon source from: https://icon.sucai999.com/).

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Fig 5 Expand

Fig 6.

Structure of dynamics-based controller model (Icon source from: https://icon.sucai999.com/).

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Fig 6 Expand

Fig 7.

Operational flow of SHD controller (Icon source from: https://icon.sucai999.com/).

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Fig 7 Expand

Fig 8.

Comparison of trajectory tracking error and pressure control error.

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Fig 9.

Comparison of fault detection accuracy and F1 score.

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Fig 10.

Comparison of fault location time and safety protection response time.

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Fig 11.

Results of the ablation experiment.

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Fig 11 Expand

Fig 12.

Comparison of fault classification accuracy.

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Fig 13.

Comparison of flow control accuracy and pressure loss.

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Fig 14.

Comparison of energy conversion efficiency and standby power consumption.

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Table 1.

Comparison of static error rate, overshoot, gain margin, and other indicators.

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Table 1 Expand