INDI² Plus PD Control Architecture for New Generation Unmanned Aerial Vehicles
Bibliographic record
Abstract
A cascade control architecture is proposed for the control of advanced Unmanned Aerial Vehicles having highly coupled dynamics. The aircraft of interest is a highly maneuverable aircraft developed for flight inside unstructured geometrically complex spaces. The aircraft can perform flight maneuvers that no other aircraft can. To deal with the complexities inherent to such an aircraft, a novel nonlinear control architecture, termed INDI<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup>+PD, is proposed. An outer loop and an inner loop INDI controllers are complementary employed for position/velocity and attitude/rotation-rate control, respectively. Each controller operates on a corresponding reduced system model enabling them to complement each other and decouple the aircraft dynamics while coping with complex external disturbances. Obtained results demonstrate effective control of the targeted aircraft system to accurately track complex flight maneuvers.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".