Adaptive Fault-Tolerant Control of Fixed-wing UAV Under Actuator Saturation and State Constraints
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Bibliographic record
Abstract
This paper proposes a fault-tolerant control (FTC) scheme for unmanned aerial vehicles (UAVs) with state constraints, actuator saturation, and faults. Firstly, a nonlinear mapping function is designed to transform the limited states into new unlimited states. Furthermore, based on the transformed system, neural network (NN) is used to approximate the unknown nonlinear function caused by the parametric uncertainties, external disturbances, and actuator faults. Then, dynamic surface control (DSC) technique is used to solve the problem of “explosion of complexity”. Moreover, an auxiliary system is designed to avoid actuator saturation and a Nussbaum function is used to simplify solving the inverse of the matrix in the auxiliary system. Finally, the Lyapunov method is used to prove the correctness of the FTC scheme, and simulation results show the effectiveness of this scheme.
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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