Sliding mode formation control for under-actuated autonomous surface vehicles
Why this work is in the frame
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Bibliographic record
Abstract
Sliding mode control laws for controlling multiple unmanned surface vehicles in arbitrary formations are proposed. The presented formation control method uses only local sensor-based information. A three-degree-of-freedom dynamic model has been used for the surface vehicles. It is assumed that each vehicle only has two actuators and the vehicles are under-actuated. Parameter uncertainty in the dynamic model and wave disturbance are considered in designing the controllers. It is shown that the internal dynamics of the under-actuated system is also stable. The effectiveness and robustness of these control laws in presence of parameter uncertainty in the dynamic model and wave disturbances are demonstrated by computer simulations. The control scheme is scalable and can be used to control a number of unmanned surface vehicles moving in very general formations
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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 | 0.001 |
| Open science | 0.001 | 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