Koopman-Operator-Based Attitude Dynamics and Control on SO(3)
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Bibliographic record
Abstract
This paper presents an attitude control method based on Koopman operator theory. A set of observables is discovered to represent the nonlinear attitude dynamics on using an infinite-dimensional linear system. With the assumption of low angular velocities, a finite-dimensional linear system is obtained by removing the high-order terms. An attitude control synthesis method is developed on the basis of the linear optimal control algorithm for the reduced linear system. The proposed controller design method is compared with some classical nonlinear optimal controllers to show its advantages. Also, the leaderless attitude synchronization problem is solved with the help of the reduced linear system and the well-studied linear multiagent system theory. Furthermore, a possible solution to the case with a high angular velocity is provided. Simulations and experiments are conducted to verify the effectiveness of the theory.
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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