An integrated type-2 fuzzy sliding mode control for underactuated surface vessels
Why this work is in the frame
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Bibliographic record
Abstract
A new intelligent method is developed for tracking control of underactuated surface vessels (USV), which integrates interval type-2 fuzzy logic control (IT2FLC) with a sliding-mode control (SMC). Normally, USV trajectory tracking suffers from the poor performance due to uncertain model parameters and the dynamic disturbances from wind, wave and airflow. In the proposed control method, the IT2FLC is used to analyze the USV kinematic model for selecting the optimal velocity, as the IT2FLC is an advanced technique to minimize the high uncertainties of the control system. The integrated IT2FLC-SMC controller is developed with the USV dynamic model to process the applied control law for better tracking performance. The simulation results demonstrate that the proposed approach is able to handle the system uncertainties better in comparison to the Type-1 fuzzy sliding-mode control approach.
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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