Comprehensive Unified Control Strategy for Underactuated Two-Link Manipulators
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Bibliographic record
Abstract
This paper presents a unified treatment of the motion control of underactuated two-link manipulators, including acrobots and pendubots. The motion space is divided into two areas: swing-up and attractive; and control laws are designed for each. First, a control law based on a weak-control Lyapunov function (WCLF) is employed to increase the energy of and control the posture of the actuated link in the swing-up area. Next, one parameter of the WCLF is chosen to be a nonlinear function of the state to avoid singularities. Then, another parameter of the control law is adjusted based on the state to improve the control performance. Finally, an optimal control law is designed for the attractive area. Stability is guaranteed in the swing-up area by the use of a WCLF based on LaSalle's invariance principle. Moreover, the global stability of the control system is guaranteed by integrating the WCLF and a nonsmooth Lyapunov function.
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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) | 0.001 | 0.001 |
| 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 | 0.000 |
| 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