Piecewise-affine parameter-varying control of wheeled mobile robots
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Bibliographic record
Abstract
This paper defines a new class of systems and presents a novel controller synthesis method. This new methodology is motivated by and applied to the problem of path following of a wheeled mobile robot (WMR). The new class of systems proposed in this paper is called piecewise-afflne parameter- varying (PWAPV), which is a combination of piecewise-afflne (PWA) and linear parameter-varying (LPV) systems. The synthesis of PWAPV controllers for uncertain PWAPV systems can be cast as a parameterized set of matrix inequalities, which can be approximated by a finite set of LMIs and solved efficiently using available software. As an application, actuator input voltage laws are designed to guarantee that a WMR follows a desired path that is parameterized by a time-varying curvature. Simulation results show the effectiveness of the new control law.
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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