Closed-Loop Identification and Real-Time Control of a Micro Quadcopter
Why this work is in the frame
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Bibliographic record
Abstract
This article presents a novel model-based control design scheme for a commercially-available micro quadcopter. A simple yet effective attitude dynamics model was identified using the closed-loop instrumental variable method with an iterative minimization search algorithm, since the actual model of the onboard attitude controller was unknown. Model-based integral-linear quadratic regulator, backstepping, and nested saturation controllers were proposed and compared for hovering control of the micro quadcopter based on the identified attitude dynamics model and its theoretical translational model. The proposed hovering controllers were first evaluated in simulations and then validated experimentally. For the conditions used in this research, it was observed that the nested saturation controller generally had the best performance among the three proposed controllers when hovering in the presence of external wind disturbances, while the backstepping controller exhibited the worst performance.
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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