Optimal Real-Time Trajectory Control of a Pitch-Hover UAV with a Two Link Manipulator
Why this work is in the frame
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Bibliographic record
Abstract
Rotary-wing-based Unmanned Aerial Manipulators (UAM) are gaining attention for their in-place hovering capability, holonomy in motion, and safe operation due to their redundancy. Task-oriented optimal control strategies can also further improve the flight time by generating energy-optimal coordinated motions. This paper addresses the dynamic modeling, trajectory tracking and control of an UAM that consists of an under-actuated rotary-wing UAV, with a novel pitch-hover-maneuvering capability, and a 2-DOF robotic arm. A decoupled velocity-based Model Predictive Control (MPC) strategy is proposed for tracking a trajectory in the sagittal plane of the UAM while the UAV base pitch hovers in place. Conventional PD controllers were used to generate set-point velocity screws as the inputs to the MPC. A partitioned (but complete) dynamic model of the UAM was developed and used for implementing the proposed control strategy in a simulated environment. The MPC controller takes the force/torque exerted (by the arm) on the UAV base into account and augments the desired control inputs accordingly. The proposed control strategy provides the following advantages: (1) it can be implemented in real time since a linearized dynamic model of the UAV base is used, (2) it provides a generic control structure that can be applied to different classes of UAMs.
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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