Design and Implementation of Adaptive Backstepping Control for Position Control of Propeller-Driven Pendulum System
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Bibliographic record
Abstract
The performance of the classical and adaptive backstepping control schemes for the angular position control of a nonlinear Propeller-Driven Pendulum System (PDPS) is investigated in this paper.A Particle Swarm Optimization (PSO) algorithm has been utilized to tune the design parameters of the proposed controllers.Based on the Lyapunov stability analysis the classical and the Adaptive Back-Stepping Controllers have been constructed in order to prove the convergence of the system's error with time.The Adaptive Backstepping Controller (ABSC) is designed to compensate for the variation in the system's mass magnitude.In terms of system transient response, a comparison study of the effectiveness of both controllers has been presented in this work.The simulation results have been obtained based on the MATLAB software.In addition, a comparison study between the proposed controllers and other controllers has been listed to demonstrate the effectiveness of the proposed controller.The simulation results show that the PSO based classical Backstepping Controller (BSC) has a better performance in terms of reducing the settling time, the steady-state error, and the Root Mean Square Error () value in comparison with the STSMC and SMC.In addition, the simulation results reveal that the PSO based ABSC has a better performance in terms of reducing the steady state error and the maximum overshoot in comparison with the PSO based BSC and ASTSMC.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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 |
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