A Bioinspired Filtered Backstepping Tracking Control of 7000-m Manned Submarine Vehicle
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Bibliographic record
Abstract
In this paper, a new approach of tracking control is investigated for the 7000-m Jiaolong manned submarine vehicle (MSV). First, the formulation of control allocation problem and some background information about tracking control of the 7000-m Jiaolong MSV are presented. Then, a kinematic controller is derived. The filter design using bioinspired model is employed to handle the speed jump problem and to make sure that each thruster is within the saturation limit. The kinematic controller is then extended to incorporate a sliding-mode control technique to complete the dynamic control. The system stability is guaranteed, and tracking errors asymptotically converge to zero by Lyapunov stability theory. Another interesting phenomenon is that the bioinspired method can achieve more satisfactory tracking result with a less control effort compared to a typical backstepping method. Finally, simulations illustrate the performance of the derived cascaded tracking control technique.
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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) | 0.001 | 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 | 0.001 |
| 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