Dynamic control of a mobile robot using an adaptive neurodynamics and sliding mode strategy
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Bibliographic record
Abstract
A novel control scheme with an adaptive neurodynamics and sliding mode control for the dynamic tracking control of a noholonomic mobile robot is presented. A biologically inspired neural model is embedded into the standard backstepping-based velocity controller to eliminate or inhibit the sharp speed jumps of velocity commonly existing in mobile robots due to tracking errors changing suddenly. The proposed control scheme includes a neurodynamics based velocity planner as the kinematics controller and a global sliding mode controller for the dynamics control of mobile robot. A novel neurodynamics model with parameters adaptation is presented for tracking arbitrary paths with different initial posture errors. The simulations demonstrate that the dynamic tracking of mobile robot can be realized by the proposed approach, meanwhile the sharp speed jumps of linear velocity eliminated completely.
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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