Inner–Outer Loop Control for Quadrotor UAVs With Input and State Constraints
Why this work is in the frame
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Bibliographic record
Abstract
The constrained control of unmanned aerial vehicles (UAVs) is a challenging task due to their nonlinear and underactuacted dynamics. This brief focuses on the position control of a quadrotor UAV with state and input constraints using an inner-outer loop control structure. The outer loop generates a saturated thrust, and the reference roll and pitch angles, while the inner loop is designed to follow these reference angles using a traditional PID controller. Assuming perfect inner loop tracking, the outer loop nested saturation controller guarantees global asymptotic stability for output regulation and tracking. The effect of nonideal inner loop tracking on closed-loop stability is analyzed. The proposed method is experimentally validated on an indoor quadrotor platform.
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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) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 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