Design and Experimental Validation of a Nonlinear Low-Level Controller for an Unmanned Fin-Less Airship
Why this work is in the frame
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Bibliographic record
Abstract
This paper discusses the design of a combined backstepping/Lyapunov controller for the attitude, velocity and height control of an unmanned, unstable, fin-less airship. As the airship actuation has more degrees of freedom than the motion controlled, the controller includes a quadratic optimization algorithm to find the optimal thruster commands. The control law developed provides attitude and velocity control for the entire airship flight regime, i.e., hover, vertical ascent and descent as well as cruise, all with a single controller. Controller performance is first verified using a simulation that includes detailed modeling of sensor noise, computational delays and actuation dynamics. Subsequently, the controller is tested in outdoor flight tests. The controller has been found to perform well both in simulation and flight tests. The controller parameters were identical in simulation and flight test demonstrating the high fidelity of the simulation.
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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