Optimal design of formation tracking control for a tractor-trailer robotic system with omni-directional wheels
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Bibliographic record
Abstract
This paper addresses the formation tracking control and optimal selection of control design parameters for a tractor-trailer omni-directional type robotic system with on-axle hitching. We design a sliding mode controller incorporating the dynamics of the system to drive the tractor robot to track a desired trajectory and the trailer robot to maintain a desired orientation with respect to the tractor. We also define an optimization problem to find the control design parameters that maximize the control performance and solve it using meta-heuristics optimization techniques. The stability of the developed controller is studied using Lyapunov theorem. We demonstrate the effectiveness of our proposed methodology using simulation results. It is concluded that the proposed control methodology can be adopted in real-time experiments and is applicable in real-world applications for good formation tracking performance under large disturbances.
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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