Adaptive motion/force control of mechanical systems with nonholonomic Pfaffian constraints
Why this work is in the frame
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Bibliographic record
Abstract
The contribution of this work relates to two subjects. In the first part of the paper the authors present a novel dynamic description of mechanical (Lagrangian) systems with nonholonomic (Pfaffian) constraints. This development was motivated by the need for a convenient and simple dynamic model for the controller. Essentially, the new element of this development is QR decomposition of the constraint matrix. Following this decomposition, the authors have proven a new dynamic property of the considered system. This property allows the authors to express the system dynamics in terms of a new reduced-order state vector. The second part of the work is concerned with development of the adaptive position/force controllers for general Lagrangian systems with Pfaffian constraints. Two cases are elaborated: (i) motion/force tracking control with known system parameters, and (ii) adaptive control in the presence of uncertainties. The adaptive control law guarantees the uniform ultimate boundness of the tracking error.
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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