Adaptive robust control for the corner balancing Cubli system with uncertainties
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Bibliographic record
Abstract
The Cubli is a cube that can balance on its edge or corner by rotating inertia wheels. It is a typical underactuated mechanical system, and has 6 degrees of freedom when balancing on its corner. In this paper, an adaptive robust control is presented to balance the uncertain Cubli system on its corner. The uncertainties are considered to be time-varying and bounded, but the bounds are unknown. We first established a dynamic model of the uncertain Cubli system, subject to the servo constraints. Next, we present the robust control with a leakage-type adaptive law. We used the Lyapunov theory to verify the stability of the control. Finally, the effectiveness of the control was verified through numerical simulation in MATLAB™.
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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 | 0.001 | 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