Piecewise-affine control of a three DOF helicopter
Bibliographic record
Abstract
This paper develops a piecewise-affine (PWA) controller for a nonlinear three degree of freedom (DDF) helicopter model. To design this controller a local linear controller is designed for a PWA approximation of the model in the region where the desired closed-loop equilibrium point lies. An optimization problem subject to bilinear matrix inequalities (BMIs) is then solved to find a PWA semi-global extension of the linear controller. A piecewise-quadratic Lyapunov function is found which proves stability of the FWA closed-loop system in the whole domain of the nonlinearity. This research represents the first development of a PWA model and controller for a helicopter. The synthesis method presented in this paper enables the extension of a local linear controller designed for helicopter performance to a stabilizing semi-global PWA controller that still meets the helicopter performance requirements while the system operates close to the equilibrium point
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".