Position control for a class of vehicles in SE(3)
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
A hierarchical design framework is presented to control the position of a class of vehicles in SE(3) that are propelled by a thrust vector along a single body axis and incorporate some mechanism to induce torques about all body axes. A position control outer loop provides reference signals for an attitude control inner loop. The main result of this paper is a set of conditions under which a position controller designed for a point-mass system and an attitude controller can be combined to form a position controller that almost globally asymptotically stabilizes the vehicle to a desired position with desired heading. As opposed to the classical backstepping framework, the proposed approach is modular, in that position control and attitude control designs are completely separate. Thus, for instance, with the proposed technique one can employ any attitude controller from the vast literature on attitude stabilization, provided it enjoys a basic almost global stability property.
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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