Tube-Based Model Predictive Control for Constrained Unmanned Marine Vehicles With Thruster Faults
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Bibliographic record
Abstract
In this article, the dynamic positioning (DP) control problem of constrained unmanned marine vehicles with thruster faults is investigated. To deal with the system constraints and thruster faults effect simultaneously, a codesign framework based on integral sliding mode control (ISMC) and model predictive control (MPC) is proposed. The main design challenge comes from the multiplicative uncertainty introduced by thruster faults, which may cause failures in the DP control with traditional MPC. To solve this problem, we propose to use an improved tube-based MPC in which a fault uncertain set can be characterized and the terminal set containing the fault factor can be derived. Combining the ISMC we show that, all possible trajectories of the unmanned marine vehicle are constrained in the tube for all possible realizations of uncertainties. Finally, the simulation results demonstrate the effectiveness of the proposed codesign framework.
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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