Adaptive Prescribed Time Path Following Controller for Underactuated Surface Vessels
Bibliographic record
Abstract
Heading control of marine vehicles is an important issue in navigation and control engineering. This paper investigates the design of a prescribed-time robust adaptive path following control problem of an underactuated surface vessel with parametric uncertainties, unknown disturbances and control input constraints. The establishment of prescribed-time property consists of a prescribed-time regulation of the steering control systems and novel prescribed-time Line of Sight (LOS) guidance control, both of which satisfy the prescribed-time requirement. The feasibility of separate independent control design for the steering and the guidance control systems is guaranteed through the development of new results on nonlinear prescribed-time cascade systems with non-vanishing uncertainties. The Lyapunov method is employed to show that the equilibrium point of the whole system is prescribed-time input to state stable. Numerical simulations are carried out to validate the performance of the proposed control strategy.
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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".