Finite-Time Control Design for a Coaxial Tilt-Rotor UAV
Why this work is in the frame
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Bibliographic record
Abstract
Coaxial tilt-rotor (CTR) unmanned aerial vehicle (UAV) is a system with the specific configuration of two CTR modules and a rear-rotor module. The CTRUAV is a typical strongly coupled, nonlinear, and underactuated system whose control performance is always adversely affected by various disturbances. To realize robust, stable, and efficient flight control for the CTRUAV is a challenging task. A multivariable cascaded finite-time (FT) controller and an improved nonlinear control allocation law with variable parameters are proposed based on the particular configuration of the CTRUAV. Finally, the superiority and the relationship between the control performance of the proposed control scheme and the control parameters are demonstrated through simulations and real flight experiments. The results show that the proposed control system significantly improves the robustness, transient performance, stability, and efficiency of the CTRUAV. In the flight tests, the root mean square error of the velocity is reduced by 28% in the presence of external disturbance, and the settling time of the attitude is shortened up to 55.8% in tracking the step signal.
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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 | 0.001 |
| 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