Coupling-Enhanced Smooth Adaptive Control for Underactuated UAV-Slung-Payload Systems
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Bibliographic record
Abstract
This article investigates the adaptive control problem of uncrewed aerial vehicles carrying a slung payload in the presence of parameter uncertainties. This study focuses on stabilizing this underactuated system using a novel coupling-enhanced control design, which aims to enhance the system's control performance, especially improving for the unactuated states, by incorporating composite state information into the feedback. To address the uncertainties in system parameters, we propose a smooth coupling-enhanced adaptive controller. This controller ensures the smoothness and boundedness of the parameter estimates, thereby guaranteeing the smoothness of control inputs and effectively mitigating the parameter drift. Then, the asymptotic stability of the closed-loop system under the proposed control scheme is rigorously analyzed. Finally, numerical simulations and experiments are conducted to validate the effectiveness of the proposed controller.
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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) | 0.001 | 0.001 |
| 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 | 0.001 |
| 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