Stable and Adaptive Control for Wheeled Mobile Platform
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
Most differential drive platforms are equipped with two independent actuators and casters.The positions of the gravity center and the rotation center often do not coincide.This position difference, combined with the effect of unbalanced actuator dynamics on the motion, makes it difficult to properly control the platform.We propose an adaptive nonlinear controller system based on the Lyapunov stability theory that greatly improves the trajectory tracking performance of such platforms.The asymptotically stable kinematic controller takes into account the position difference and the effect of the unbalanced actuator dynamics.The dynamic controller has the desirable property that it requires minimal knowledge of the platform physical parameters.Validation was performed through simulation and several experiments conducted on a rear driven powered wheelchair.Comparative experimental studies suggested that the proposed adaptive control system performs better than a similar method presented in the literature for linear as well as curvilinear trajectory tracking.Furthermore, the control system exhibits good tracking performance on inclined plans and non smooth surfaces.
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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