Robust Output Feedback Control with Predefined State Boundaries for Multi-Rotor Systems
Bibliographic record
Abstract
This paper introduces a robust controller for multi-rotor systems that can effectively handle aggressive and high-magnitude disturbances, both in the orientation and position subsystems. Our control design uses only position and angular position vector information and comprises two primary algorithms: a state feedback controller and an extended high-gain observer. Moreover, the proposed controller provides asymptotic stability while satisfying user-imposed constraints on the position, velocity, and angular position error states. To achieve this goal, we introduce a barrier Lyapunov function, which guarantees that the tracking error trajectories of the system remain within the constraints. We evaluate the performance of our proposed control through numerical simulations and a comparison with a state-of-the-art popular controller. The results illustrate the effectiveness of our approach in coping with high-magnitude disturbances, especially in the positioning subsystem of the multi-rotor system.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.002 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.002 | 0.001 |
| Open science | 0.001 | 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".