Path-Following Control of A Quadrotor UAV With A Cable-Suspended Payload Under Wind Disturbances
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Bibliographic record
Abstract
A path-following controller based on an uncertainty and disturbance estimator (UDE) for a quadrotor with a cable-suspended payload is proposed in this paper. The quadrotor and the payload are subject to unknown wind disturbances. The controller resembles a cascade architecture. For the outer loop, a UDE-based translational control law is proposed. The controller asymptotically stabilizes the quadrotor along a given path and estimates the lumped disturbances with a low-pass filter. For the inner loop, an attitude tracking controller is used to control the direction of the lift vector so that the actual lift force can asymptotically follow the reference force generated by the translational controller. The stability of the system with the translational controller and the attitude tracking controller has been shown to be asymptotically stable using the reduction theorem. With the help of the reduction theorem, the design of the translational and the attitude control can be decoupled, providing the flexibility of implementing different attitude controllers without redoing the stability analysis. As shown in the simulation, the control law can stabilize the quadrotor on the desired path under different wind 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) | 0.001 | 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 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
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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