Robust Active Steering Control for Articulated Vehicle
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
This paper addresses the lane keeping scenario for articulated vehicles. The proposed system controls the steering angles of the truck and its trailer to follow a predetermined desired trajectory. During the path following, the truck position and the articulation angle are bounded to ensure a safe maneuver. The proposed approach is based on a modular system. The first module uses the function of barrier Lyapunov to apply constraints on the truck position and the trailer orientation. The second module denotes a Robust Integral of Sign of Error (RISE) feedback controller. The proposed controller is designed to define the appropriate steering angles for the truck and the trailer while compensating the vehicle's parameters uncertainties. To prove the efficiency of the developed approach, a comparative study with the computed torque controller is implemented.
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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