A New Robust Adaptive-Fuzzy Control Method Applied to Quadrotor Helicopter Stabilization
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Bibliographic record
Abstract
A new method for adaptive-fuzzy control achieves stabilization of a quadrotor helicopter in the presence of sinusoidal wind disturbance. Techniques traditionally used in adaptive control for robust parameter updates may not be sufficient for fuzzy schemes. In particular, e-modification may result in the fuzzy-membership centers drifting to large values when persistent oscillations are present in the input. These large values can cause control signal chatter, which can be undesirable or even cause instability if they excite unmodeled dynamics. A new method for robust updates is proposed that prevents this drift in the fuzzy membership centers. In the new method, a set of alternate membership function centers guides the adaptation process in order to prevent drift. A Lyapunov-stability proof ensures the uniform ultimate boundedness of all signals. A simulation of a quadrotor helicopter demonstrates the high performance and robust stability of the new method
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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 | 0.001 |
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