Event-Triggered Formation Control for a Class of Uncertain Euler–Lagrange Systems: Theory and Experiment
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Bibliographic record
Abstract
A distributed event-triggered protocol is proposed to deal with the time-varying formation control problem of Euler–Lagrange systems with uncertain model parameters in this research. By utilizing the small-gain theorem and matrix transformation, we show the input–output stability of the closed-loop cascade system with Euler–Lagrange dynamics. An event-triggered condition (ETC) is designed by only using the local information of each agent, which avoids the continuous communication in the event detection and excludes the Zeno behavior. Finally, the proposed methods are applied to the practical flight platform for quadrotors. The experiment using three quadrotors in the outdoor environment is demonstrated to test the effectiveness of the formation protocol.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 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