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ch
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tin
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t
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tal
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f
th
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f
o
r
ests
)
,
s
c
ien
ti
f
ic
ex
p
lo
r
atio
n
[
1
]
.
T
h
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e
is
a
lo
t
o
f
k
e
y
tech
n
o
lo
g
ie
s
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m
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e
o
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m
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tan
t
tec
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co
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m
.
So
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co
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s
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m
h
av
e
b
ee
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r
ep
o
r
ted
in
r
ec
en
t
y
ea
r
s
[
1
]
.
T
h
e
air
s
h
i
p
s
h
a
v
e
a
v
er
y
lo
w
co
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to
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h
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k
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t.
T
h
is
m
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d
el
is
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ev
elo
p
in
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b
y
[
2
]
.
T
h
e
m
ai
n
o
b
j
ec
tiv
e
o
f
th
i
s
ar
ticle
is
th
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s
y
n
t
h
esi
s
o
f
s
tab
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lizin
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co
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tr
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ws
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ter
m
s
o
f
tr
an
s
latio
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an
d
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r
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en
tatio
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f
o
r
t
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air
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ip
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I
t’
s
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v
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a
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if
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ased
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th
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co
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l o
r
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tatio
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a
n
d
th
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elo
cit
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
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b
&
A
u
to
m
I
SS
N:
2089
-
4856
PD
-
co
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u
ted
to
r
q
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co
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r
a
n
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to
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m
o
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(
Y.
Med
d
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45
T
h
er
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ar
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m
a
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y
p
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b
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h
ed
w
o
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k
s
o
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th
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co
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tr
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f
lig
h
ter
t
h
a
n
ai
r
v
eh
ic
les.
I
n
[
3
-
5
]
m
o
tio
n
i
s
r
ef
er
e
n
ce
d
to
a
s
y
s
te
m
o
f
o
r
th
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g
o
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b
o
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y
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x
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lo
ca
ted
in
th
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h
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w
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s
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all
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f
o
r
a
b
u
o
y
a
n
t
u
n
d
er
w
ater
v
e
h
icle
[
3
]
.
I
t
w
as
m
o
d
if
ied
later
to
ta
k
e
i
n
to
ac
co
u
n
t
th
e
s
p
ec
if
icit
y
o
f
t
h
e
air
s
h
ip
[
4,
5
]
.
T
h
is
m
o
d
el
w
a
s
m
o
d
if
ied
b
y
[
6
]
an
d
th
e
m
o
d
if
icatio
n
h
a
s
t
h
e
p
ar
ticu
lar
it
y
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a
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o
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ip
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y
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s
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e
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n
tr
e
o
f
th
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ip
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lu
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e.
B
u
t
in
th
e
s
e
p
ap
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,
n
e
w
d
y
n
a
m
ic
m
o
d
el
d
ev
elo
p
ed
b
y
[
2
]
w
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u
s
ed
an
d
w
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p
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p
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to
co
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Ma
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w
o
r
k
s
ar
e
p
u
b
lis
h
ed
in
th
e
co
n
tr
o
l
o
f
th
e
lig
h
ter
th
an
a
ir
v
eh
icle
s
,
f
o
r
ex
a
m
p
le
:
in
[
7
]
th
e
au
th
o
r
s
ar
e
p
r
o
p
o
s
ed
th
e
l
i
n
ea
r
co
n
tr
o
l
th
eo
r
y
ap
p
lied
f
o
r
t
h
e
lin
ea
r
izat
io
n
.
I
n
[
1
]
a
f
a
u
lt
-
to
ler
an
t
B
ac
k
s
tep
p
in
g
co
n
tr
o
l
la
w
is
p
r
o
p
o
s
ed
.
I
n
[
8
]
th
e
au
th
o
r
s
p
r
o
p
o
s
ed
n
o
n
lin
ea
r
ad
ap
tiv
e
co
n
tr
o
ller
d
es
ig
n
to
s
tab
ilize
th
e
er
r
o
r
s
y
s
te
m
b
y
L
y
ap
u
n
o
v
d
ir
ec
t
m
et
h
o
d
an
d
Ma
tr
o
s
o
v
th
eo
r
e
m
.
W
h
ile
i
n
th
e
cited
w
o
r
k
s
,
th
e
y
h
av
e
u
s
ed
th
e
d
ec
o
u
p
led
lin
e
ar
m
o
d
els
co
m
p
r
is
ed
o
f
t
h
e
l
o
n
g
it
u
d
in
a
l
a
n
d
later
al
m
o
d
el
s
.
I
n
[
9
]
th
e
au
th
o
r
s
h
av
e
ad
d
r
ess
ed
th
e
p
r
o
b
le
m
o
f
d
esi
g
n
in
g
t
r
ac
k
i
n
g
f
ee
d
b
ac
k
co
n
tr
o
l.
I
n
[
1
0
]
th
e
y
d
e
s
ig
n
ed
an
ad
ap
tiv
e
f
ee
d
b
a
ck
li
n
ea
r
izatio
n
co
n
tr
o
l.
I
n
[
1
1
]
an
i
m
p
r
o
v
ed
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l i
s
p
r
ese
n
t
ed
.
I
n
[
1
2
]
th
e
d
y
n
a
m
ics
i
n
th
e
v
er
t
ical
p
lan
e
ar
e
a
n
al
y
ze
d
an
d
co
n
tr
o
lled
,
u
s
i
n
g
m
a
x
i
m
a
l
f
ee
d
b
ac
k
li
n
ea
r
iza
tio
n
.
I
n
[
1
3
]
a
f
u
zz
y
ad
ap
ti
v
e
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
is
p
r
esen
ted
,
an
d
th
e
tr
aj
ec
to
r
y
co
n
tr
o
l
m
et
h
o
d
f
o
r
u
n
d
er
ac
tu
ated
s
tr
ato
s
p
h
er
ic
air
s
h
ip
is
p
r
o
p
o
s
ed
in
[
14
]
b
ased
o
n
T
L
C
t
h
eo
r
y
.
I
n
[
15
]
a
b
ac
k
s
tep
p
in
g
co
n
tr
o
ller
w
as
d
esi
g
n
ed
f
o
r
attit
u
d
e
an
d
v
elo
cit
y
.
I
n
[
16
]
a
r
o
b
u
s
t
b
a
ck
s
tep
p
in
g
co
n
tr
o
ller
co
n
s
id
e
r
in
g
d
is
t
u
r
b
an
ce
w
a
s
p
r
o
p
o
s
e
d
.
I
n
[
17
]
a
r
o
b
u
s
t
f
ee
d
b
ac
k
co
n
tr
o
ller
is
p
r
esen
ted
.
I
n
th
is
p
ap
er
,
th
e
co
m
p
u
ted
to
r
q
u
e
co
n
tr
o
ller
an
d
m
o
tio
n
p
lan
n
i
n
g
ar
e
co
m
b
i
n
ed
to
s
tab
ilize
th
e
Ai
r
s
h
ip
b
y
u
s
in
g
t
h
e
p
o
in
t
to
p
o
in
t
s
teer
i
n
g
s
tab
ilizatio
n
.
Mo
d
elin
g
i
s
b
r
ief
l
y
d
escr
ib
ed
in
Sectio
n
2
.
Sectio
n
3
,
d
escr
ib
es
co
m
p
u
ted
to
r
q
u
e
co
n
tr
o
ller
s
.
I
n
Sectio
n
4
,
s
im
u
latio
n
r
es
u
lt
s
ar
e
p
r
esen
ted
f
o
llo
w
ed
b
y
r
o
b
u
s
t
n
es
s
co
n
s
id
er
atio
n
i
n
Sectio
n
5
.
Fin
all
y
,
s
o
m
e
co
n
cl
u
s
io
n
s
an
d
f
u
t
u
r
e
w
o
r
k
ar
e
g
iv
e
n
i
n
th
e
la
s
t sect
io
n
a
.
2.
M
O
DE
L
I
N
G
O
F
T
H
E
AIR
SH
I
P
T
h
e
air
s
h
ip
Fig
u
r
e
1
s
tu
d
ie
d
h
er
e
h
as
a
tr
ad
itio
n
al
ell
i
p
s
o
id
al
en
v
elo
p
e.
I
t
ai
m
s
to
f
l
y
in
t
h
e
s
tr
ato
s
p
h
er
e.
B
u
o
y
a
n
c
y
is
p
r
o
v
id
ed
b
y
h
eli
u
m
co
n
ta
in
ed
i
n
th
e
en
v
elo
p
e.
T
h
e
av
io
n
ic
s
s
y
s
te
m
,
p
o
w
er
s
y
s
te
m
an
d
p
ay
lo
ad
s
ar
e
eq
u
ip
p
ed
in
a
g
o
n
d
o
la
f
ix
ed
b
elo
w
t
h
e
en
v
elo
p
e.
T
h
e
ae
r
o
d
y
n
a
m
ic
co
n
tr
o
l
s
u
r
f
ac
es
li
k
e
r
u
d
d
er
s
an
d
elev
ato
r
s
attac
h
to
th
e
e
m
p
en
n
ag
e
s
u
r
f
ac
es.
I
n
th
i
s
r
esear
ch
,
th
e
u
p
an
d
d
o
w
n
r
u
d
d
er
s
m
o
v
e
to
g
eth
er
,
w
h
ile
th
e
le
f
t
an
d
r
ig
h
t
ele
v
ato
r
s
ar
e
d
if
f
er
e
n
tial
a
n
d
m
o
v
e
s
ep
ar
atel
y
.
T
h
er
ef
o
r
e,
th
e
d
ef
lectio
n
s
o
f
th
e
r
u
d
d
er
s
co
n
tr
o
l
t
h
e
y
a
w
m
o
v
e
m
e
n
t
w
h
er
ea
s
th
e
elev
a
to
r
s
i
n
f
l
u
e
n
ce
t
h
e
p
itc
h
a
n
d
r
o
tatio
n
.
T
h
e
p
r
o
p
eller
s
ar
e
f
ix
ed
o
n
b
o
th
s
id
es o
f
th
e
g
o
n
d
o
la
an
d
p
r
o
v
id
e
m
ai
n
p
r
o
p
u
ls
i
v
e
f
o
r
ce
f
o
r
f
l
ig
h
t
.
Fig
u
r
e
1
.
Stru
ct
u
r
e
o
f
th
e
air
s
h
ip
T
h
e
d
y
n
a
m
ic
m
o
d
eli
n
g
o
f
li
g
h
ter
th
a
n
air
(
air
s
h
ip
)
is
d
e
d
u
ce
d
f
r
o
m
Ne
w
to
n
’
s
la
w
s
o
f
clas
s
ical
m
ec
h
a
n
ic
s
.
W
e
ar
e
an
al
y
z
in
g
t
h
e
m
o
tio
n
o
f
a
n
air
s
h
ip
w
it
h
s
ix
d
e
g
r
ee
s
o
f
f
r
ee
d
o
m
,
w
h
er
ea
s
.
W
e
ar
e
co
n
s
id
er
in
g
th
e
v
elo
cit
y
o
f
th
e
w
i
n
d
is
n
u
ll.
W
e
d
escr
ib
ed
t
w
o
r
ef
er
e
n
ce
s
f
r
a
m
e
s
(
in
er
tia
l
an
d
b
o
d
y
-
f
i
x
ed
)
,
th
en
,
th
e
t
h
r
ee
-
d
i
m
e
n
s
io
n
al
tr
a
n
s
lat
io
n
al
k
i
n
e
m
a
tic
eq
u
atio
n
s
o
f
an
ae
r
ial
v
e
h
icle
ta
k
i
n
g
in
t
o
ac
co
u
n
t t
h
e
w
i
n
d
ef
f
ec
t c
an
b
e
ex
p
r
ess
ed
as
f
o
ll
o
w
i
n
g
(
1
)
:
c
o
s
(
)
c
o
s
(
)
c
o
s
(
)
s
i
n
(
)
s
i
n
(
)
d
x
V
d
y
V
d
y
V
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
8
,
No
.
1
,
Ma
r
ch
2
0
1
9
:
4
4
–
5
1
46
W
h
er
e
X
an
d
Y
d
e
f
i
n
e
th
e
h
o
r
izo
n
tal
p
o
s
itio
n
o
f
t
h
e
v
e
h
icle
a
n
d
Z
d
en
o
tes
i
ts
alt
itu
d
e
.
T
h
e
tr
an
s
latio
n
eq
u
atio
n
s
ar
e
f
o
llo
w
ed
as
(
2
)
:
33
22
11
L
T
s
i
n
α
c
o
s
c
o
s
σ
b
m
g
c
o
s
γ
γ
m
m
V
L
T
s
i
n
α
s
i
n
σ
Ψ
m
m
V
c
o
s
γ
T
c
o
s
αD
1
V
b
m
g
s
i
n
γ
mm
(
2
)
T
h
ese
eq
u
atio
n
s
ar
e
a
r
es
u
lt
o
f
ae
r
o
d
y
n
a
m
ics,
g
r
av
it
y
,
b
u
o
y
an
c
y
,
li
f
t,
d
r
ag
a
n
d
th
r
u
s
t
f
o
r
ce
s
m
o
m
e
n
t
s
,
an
d
ar
e
co
n
tr
o
lled
b
y
t
h
e
th
r
u
s
t
T
,
th
e
an
g
le
o
f
a
ttack
α
a
n
d
th
e
b
an
k
a
n
g
le
σ
[
2
]
.
A
er
o
d
y
n
a
m
ical
Fo
r
ce
:
T
h
is
f
o
r
ce
i
n
clu
d
es
t
h
e
d
r
ag
f
o
r
ce
D,
o
p
p
o
s
ite
to
V,
a
n
d
t
h
e
li
f
t
f
o
r
ce
L
,
o
r
th
o
g
o
n
al
to
V.
T
h
ese
f
o
r
ce
s
ar
e
ex
p
r
ess
ed
b
y
t
h
e
f
o
llo
w
in
g
(
3
)
:
2
Lr
2
Dr
1
L
C
M
,
α
A
ρ
V
2
1
D
C
M
,
α
A
ρ
V
2
b
ρ
*
V
o
l
*
g
(
3
)
T
h
e
lif
t
co
ef
f
icie
n
t
is
a
li
n
ea
r
f
u
n
ct
io
n
o
f
t
h
e
an
g
le
o
f
a
ttack
w
h
il
s
t t
h
e
d
r
a
g
co
ef
f
icie
n
t
is
a
q
u
ad
r
atic
f
u
n
ctio
n
o
f
L
C
M
,
α
(
4
)
[
18
]:
L
L
0
L
α
2
D
D0
L
C
M
,
α
C
M
K
M
α
C
M
,
α
C
K
C
(
4
)
T
h
ese
eq
u
atio
n
s
h
av
e
a
n
i
m
p
o
r
tan
t
p
lace
in
ae
r
o
s
p
ac
e
v
eh
icl
e
s
tu
d
y
,
b
ec
au
s
e
th
e
y
ca
n
b
e
f
o
r
m
u
lated
f
r
o
m
tr
i
m
m
ed
ae
r
o
d
y
n
a
m
ic
d
ata
an
d
s
i
m
p
le
a
u
to
p
ilo
t
d
esi
g
n
s
.
Ne
v
er
t
h
eles
s
,
t
h
e
y
g
iv
e
a
r
ea
lis
tic
p
ictu
r
e
o
f
th
e
tr
a
n
s
lat
io
n
al
a
n
d
r
o
tatio
n
al
d
y
n
a
m
ic
s
u
n
le
s
s
lar
g
e
a
n
g
le
s
a
n
d
cr
o
s
s
-
co
u
p
li
n
g
e
f
f
ec
ts
d
o
m
i
n
ate
th
e
s
i
m
u
lat
io
n
s
.
T
r
aj
ec
to
r
y
s
t
u
d
i
es,
n
av
ig
at
io
n
,
an
d
g
u
id
a
n
ce
ev
alu
at
io
n
s
ca
n
b
e
s
u
cc
e
s
s
f
u
ll
y
e
x
ec
u
ted
w
it
h
s
i
m
u
lat
io
n
s
o
f
t
h
ese
eq
u
ati
o
n
s
.
T
h
e
lim
i
tatio
n
s
o
n
th
r
u
s
t
an
d
v
elo
ci
t
y
w
i
ll
b
e
u
s
ed
in
th
e
p
ath
p
lan
n
i
n
g
[
18
-
20
].
3.
NO
NL
I
N
E
AR
CO
M
P
UT
E
D
T
O
RQ
U
E
CO
N
T
RO
L
3
.
1
.
F
o
r
t
he
dy
na
m
ic
m
o
del
T
h
e
v
elo
cit
y
,
th
e
p
itch
an
d
th
e
y
a
w
ca
n
b
e
co
n
tr
o
lle
d
b
y
a
f
ee
d
f
o
r
w
ar
d
co
n
tr
o
ller
Fig
u
r
e
2
.
Fro
m
th
e
m
o
d
el
(
2
)
o
n
e
ca
n
s
ee
th
at
th
r
o
u
g
h
th
e
v
elo
cit
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d
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1
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r
ch
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0
1
9
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1
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Fig
u
r
e
6
.
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h
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ip
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ap
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e
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o
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ea
l sy
s
te
m
.
RE
F
E
R
E
NC
E
S
[1
]
G
u
o
q
ian
g
W
u
,
Ba
o
Ju
n
L
in
,
S
h
a
n
c
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h
a
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a
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lt
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T
o
lera
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t
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a
c
k
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p
in
g
A
tt
it
u
d
e
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o
n
tr
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l
f
o
r
A
u
to
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o
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s
A
irsh
ip
w
it
h
S
e
n
so
r
F
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lu
re
,
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Pr
o
c
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d
ia
E
n
g
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l
2
9
,
p
2
0
2
2
–
2
0
2
7
,
2
0
1
2
.
[2
]
Y
.
Be
sta
o
u
i
S
e
b
b
a
n
e
,
“L
ig
h
ter
th
a
n
a
ir
ro
b
o
ts
in
tell
ig
e
n
t
sy
ste
m
s
c
o
n
tro
l
a
n
d
a
u
to
m
a
ti
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n
,”
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u
rn
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l
o
f
Gu
i
d
a
n
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e
,
Co
n
tr
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l
,
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n
d
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n
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mic
s
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l
.
3
2
,
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o
.
4
,
Ju
l
-
A
u
g
u
st
2
0
0
9
.
[3
]
L
.
Be
ji
&
A
.
A
b
ich
o
u
,
“
T
ra
c
k
in
g
c
o
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tro
l
o
f
tri
m
traje
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li
m
p
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n
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d
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li
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m
a
n
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u
v
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In
ter
n
a
t
io
n
a
l
J
o
u
rn
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l
o
f
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o
n
tr
o
l,
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ter
n
a
t
io
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a
l
J
o
u
rn
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l
o
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l
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v
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l.
7
8
,
n
o
1
0
,
p
.
7
0
6
-
7
1
9
,
2
0
0
5
.
[4
]
W
u
Y
o
n
g
m
e
i,
Zh
u
M
in
g
,
Z
u
o
Z
o
n
g
y
u
,
Zh
e
n
g
Zew
e
i,
“
T
ra
jec
to
ry
T
ra
c
k
in
g
o
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Hig
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lt
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u
d
e
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ma
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n
e
d
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rs
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i
p
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se
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o
n
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d
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p
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v
e
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d
b
a
c
k
L
in
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riza
ti
o
n
,
”
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ter
n
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
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e
c
h
a
tro
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ic
S
c
ien
c
e
,
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e
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tri
c
En
g
in
e
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rin
g
a
n
d
Co
m
p
u
ter
,
A
u
g
u
st 1
9
-
2
2
,
Jili
n
,
Ch
in
a
,
2
0
1
1
.
[5
]
Y
u
e
n
e
n
g
,
Y
a
n
g
,
W
ei
,
Zh
e
n
g
,
e
t
J
ie
,
W
u
.
"
S
li
d
i
n
g
mo
d
e
c
o
n
tr
o
l
fo
r
a
n
e
a
r
s
p
a
c
e
a
u
t
o
n
o
mo
u
s
a
irsh
ip
,”
I
n
:
El
e
c
tri
c
In
f
o
rm
a
ti
o
n
a
n
d
Co
n
tr
o
l
E
n
g
in
e
e
rin
g
(ICEI
CE),
I
n
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
,
IEE
E,
p
3
5
7
6
-
3
5
7
9
,
2
0
1
1
.
[6
]
X
ia
o
ta
o
W
u
,
Clau
d
e
H.
M
o
o
g
,
L
u
is
A
leja
n
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ro
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a
rq
u
e
z
-
M
a
rti
n
e
z
,
Y
u
e
m
in
g
Hu
,
“
F
u
ll
m
o
d
e
l
o
f
a
b
u
o
y
a
n
c
y
-
d
riv
e
n
a
irsh
ip
a
n
d
it
s c
o
n
tr
o
l
i
n
t
h
e
v
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rti
c
a
l
p
lan
e
,
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o
sp
a
c
e
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
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se
v
ier
,
v
o
l
2
6
,
p
1
3
8
-
1
5
2
,
2
0
1
3
.
[7
]
Y
u
e
n
e
n
g
Y
a
n
g
,
Jie
W
u
,
W
e
i
Zh
e
n
g
,
“
S
tatio
n
-
k
e
e
p
in
g
c
o
n
tr
o
l
f
o
r
a
stra
to
sp
h
e
ric
a
irsh
ip
p
latf
o
rm
v
ia
f
u
z
z
y
a
d
a
p
ti
v
e
b
a
c
k
ste
p
p
in
g
a
p
p
r
o
a
c
h
,
”
A
d
v
a
n
c
e
s in
S
p
a
c
e
Res
e
a
r
c
h
,
v
o
l
5
1
,
p
1
1
5
7
–
1
1
6
7
,
2
0
1
3
.
[8
]
Zew
e
i
Zh
e
n
g
,
W
e
i
Hu
o
,
Zh
e
W
u
,
“
T
ra
jec
to
r
y
tra
c
k
in
g
c
o
n
tro
l
f
o
r
Un
d
e
ra
c
tu
a
ted
S
trato
s
p
h
e
ric A
irsh
ip
,
”
A
d
v
a
n
c
e
s
in
S
p
a
c
e
Res
e
a
r
c
h
,
v
o
l
5
0
,
p
9
0
6
-
9
1
7
,
2
0
1
2
.
[9
]
Y
.
Zh
a
n
g
,
W
.
Qu
.
“
S
tab
il
iza
ti
o
n
a
n
d
t
ra
jec
to
ry
trac
k
in
g
o
f
a
u
to
n
o
m
o
u
s
a
irsh
i
p
’
s
p
lan
a
r
m
o
ti
o
n
,”
J
o
u
rn
a
l
o
f
S
y
ste
ms
En
g
i
n
e
e
rin
g
a
n
d
E
lec
tr
o
n
ics
,
v
o
l
1
9
,
n
o
5
,
p
9
7
4
-
9
8
1
,
2
0
0
8
.
[1
0
]
K.
S
.
Kim
a
n
d
Y
.
Kim
,
“
Ro
b
u
st
b
a
c
k
ste
p
p
in
g
c
o
n
tr
o
l
f
o
r
sle
w
m
a
n
e
u
v
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r
u
sin
g
n
o
n
li
n
e
a
r
trac
k
in
g
fu
n
c
ti
o
n
,
”
IEE
E
T
ra
n
s.
C
o
n
tr
o
l
S
y
st.
T
e
c
h
n
o
,
v
o
l.
1
1
,
n
o
.
6
,
p
p
.
8
2
2
–
8
2
9
,
N
o
v
.
2
0
0
3
.
[1
1
]
X
.
W
a
n
g
,
X.
S
h
a
n
,
“
S
tu
d
y
o
f
ro
b
u
st
c
o
n
tro
l
f
o
r
stra
to
sp
h
e
re
a
i
rsh
ip
a
tt
it
u
d
e
,
”
J
o
u
rn
a
l
o
f
S
y
ste
m
S
imu
l
a
ti
o
n
,
v
o
l
5
,
p
1
8
-
5
,
2
0
0
6
.
[1
2
]
Be
sta
o
u
i,
Y
.
“
M
issio
n
p
l
a
n
u
n
d
e
r
u
n
c
e
rta
i
n
ty
f
o
r
a
n
a
u
t
o
n
o
mo
u
s
a
ir
c
ra
ft
,
”
P
r
o
c
e
e
d
in
g
s
o
f
th
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In
stit
u
ti
o
n
o
f
M
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c
h
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En
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P
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rt
G
:
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u
rn
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l
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En
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2
2
4
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n
o
1
2
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p
.
1
2
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s
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(
Y.
Med
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a
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)
51
[1
3
]
B.
S
icili
a
n
o
a
n
d
O.
K
h
a
ti
b
,
S
p
rin
g
e
r
h
a
n
d
b
o
o
k
o
f
ro
b
o
t
ics
:
S
p
ri
n
g
e
r
-
V
e
rlag
Ne
w
Y
o
rk
In
c
,
2
0
0
8
.
[1
4
]
F
a
rz
in
P
il
ta
n
a
n
d
a
ll
,
“
De
sig
n
Artif
icia
l
No
n
li
n
e
a
r
Ro
b
u
st
Co
n
tr
o
ll
e
r
Ba
se
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o
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CT
L
C
a
n
d
F
S
M
C
w
it
h
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u
n
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b
le
G
a
in
,”
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ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
R
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b
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ti
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s a
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d
Au
to
ma
ti
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n
(
IJ
RA
)
,
V
o
lu
m
e
(2
):
Iss
u
e
(3
)
:
2
0
1
1
.
[1
5
]
T
.
I.
F
o
ss
e
n
,
G
u
id
a
n
c
e
a
n
d
Co
n
tr
o
l
o
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e
a
n
V
e
h
icle
s Jo
h
n
W
il
e
y
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o
n
s L
td
,
Ch
ic
h
e
ste
r
,
(1
9
9
4
)
.
[1
6
]
E.
Hy
g
o
u
n
e
c
,
P
.
S
o
u
e
re
s,
S
.
L
a
c
ro
ix
,
“
M
o
d
é
li
sa
ti
o
n
d
’
u
n
b
a
ll
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n
d
iri
g
e
a
b
le,
Et
u
d
e
d
e
la
c
in
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m
a
ti
q
u
e
e
t
d
y
n
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m
iq
u
e
,
”
CNRS
re
p
o
rt,
4
2
6
,
LAA
S
,
T
o
u
lo
u
se
,
F
ra
n
c
e
,
Oc
to
b
e
r
2
0
0
0
.
[1
7
]
G
.
A
.
Kh
o
u
ry
,
J.
D.
G
il
let,
e
d
s.
“
A
irsh
ip
tec
h
n
o
l
o
g
y
,
”
Ca
m
b
rid
g
e
Un
iv
e
rsit
y
p
re
ss
,
(1
9
9
9
).
[1
8
]
L
.
Be
ji
,
A
.
A
b
ich
o
u
,
Y
.
Be
sta
o
u
i
,
“
S
tab
i
li
z
a
ti
o
n
o
f
a
No
n
li
n
e
a
r
U
n
d
e
ra
c
tu
a
ted
A
u
to
n
o
m
o
u
s
A
irsh
i
p
-
A
Co
m
b
in
e
d
A
v
e
r
a
g
in
g
a
n
d
Ba
c
k
ste
p
p
in
g
A
p
p
ro
a
c
h
,”
t
h
ird
i
n
tern
a
ti
o
n
a
l
W
o
rk
sh
o
p
o
n
R
o
b
o
t
M
o
t
io
n
a
n
d
C
o
n
tr
o
l,
No
v
e
m
b
e
r
9
-
1
1
,
2
0
0
2
.
[1
9
]
Y
.
Be
sta
o
u
i,
T
.
Ha
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s
.
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