Hybrid sliding sector control for a wheeled mobile robot
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Bibliographic record
Abstract
This paper proposes a hybrid control algorithm with sliding sectors for the control of a wheeled mobile robot (WMR), which is a non-holonomic system. The WMR control system with a set of available or pre-designed control laws is considered as a hybrid system with a set of subsystems. The WMR with one of control laws forms a non-linear subsystem of the hybrid system. The subsystems may be unstable but for each subsystem of the hybrid system, a stable subset called a sliding sector is designed such that a Lyapunov function candidate decreases inside the sliding sector. The hybrid control rule is used to stabilize the WMR control system by switching the hybrid system among its subsystems such that the system is always inside a sliding sector of some subsystem. The proposed hybrid sliding sector control algorithm has been successfully implemented to the real-time control of WMR with good control performance.
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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 | 0.001 | 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 | 0.000 |
| 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