Robust Flight Control of a Tri-Rotor UAV based on Modified Super-Twisting Algorithm
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Bibliographic record
Abstract
In this paper, a nonlinear controller for finite-time high-accuracy position and attitude tracking trajectory has been proposed for a tri-rotor unmanned aerial vehicle affected by disturbances. The proposed method is the super-twisting control algorithm supported by two closed-loop feedback regulation based on a proportional-integral-derivative switching surface. This algorithm is one of the most effective algorithms of second order sliding mode due to its robustness, high precision, finite-time convergence when the trajectories of the controlled system are far from the switching surface. The proposed controller also offers a chattering reduction or elimination, which is the main drawback of sliding mode controllers. Stability conditions are presented based on Lyapunov theory. Numerical simulations are performed on the considered tri-rotor to prove the efficiency of the proposed nonlinear method.
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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 | 0.000 |
| 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