T
E
L
KO
M
N
I
KA
T
e
lec
om
m
u
n
icat
ion
,
Com
p
u
t
i
n
g,
E
lec
t
r
on
ics
an
d
Cont
r
ol
Vol.
18
,
No.
3
,
J
une
2020
,
pp.
1505
~
1513
I
S
S
N:
1693
-
6930
,
a
c
c
r
e
dit
e
d
F
ir
s
t
G
r
a
de
by
Ke
me
nr
is
tekdikti
,
De
c
r
e
e
No:
21/E
/KP
T
/2018
DO
I
:
10.
12928/
T
E
L
KO
M
NI
KA
.
v18i3.
14781
1505
Jou
r
n
al
h
omepage
:
ht
tp:
//
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nal.
uad
.
ac
.
id/
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mp
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d
w
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ear
c
o
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ro
l
.
K
e
y
w
o
r
d
s
:
Dyna
mi
c
s
c
ontr
ol
R
e
mot
e
ly
ope
r
a
ted
ve
hicle
S
li
ding
mo
de
c
ont
r
ol
T
uning
opti
mi
z
a
ti
on
Th
i
s
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s
a
n
o
p
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a
c
ces
s
a
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l
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d
e
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t
h
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CC
B
Y
-
SA
l
i
ce
n
s
e
.
C
or
r
e
s
pon
din
g
A
u
th
or
:
S
ya
dz
a
Atika
R
a
hmah,
De
pa
r
tm
e
nt
of
E
lec
tr
ica
l
E
nginee
r
ing,
P
oli
teknik
E
lekt
r
onika
Ne
ge
r
i
S
ur
a
ba
ya
,
S
ur
a
ba
ya
C
it
y,
I
ndone
s
ia.
E
mail:
s
a
r
.
s
ya
dz
a
@gmail.
c
om
1.
I
NT
RODU
C
T
I
ON
R
e
m
ote
l
y
O
pe
r
a
te
d
Ve
h
ic
le
is
a
n
un
de
r
wa
te
r
r
ob
o
t
c
o
nt
r
ol
le
d
by
a
n
o
pe
r
a
to
r
f
o
r
va
r
io
us
a
pp
l
ica
ti
ons
s
uc
h
a
s
u
nd
e
r
wa
te
r
ma
pp
in
g
,
m
on
i
to
r
in
g
,
e
xp
lo
r
a
t
ion
,
e
tc
.
H
ow
e
ve
r
,
i
t
is
s
t
il
l
di
f
f
i
c
u
lt
t
o
o
pe
r
a
te
th
e
R
OV
a
s
the
r
e
a
r
e
un
c
e
r
t
a
i
nt
ies
e
i
th
e
r
i
n
i
ts
d
yna
m
ic
m
od
e
ls
o
r
i
n
t
he
na
vi
ga
ti
on
a
nd
c
o
nt
r
ol
s
ys
t
e
ms
[
1
]
.
T
he
s
e
un
c
e
r
ta
in
ti
e
s
i
nc
l
ude
n
on
l
i
ne
a
r
c
ha
r
a
c
t
e
r
is
ti
c
s
ys
tem
s
[
2
-
5
]
a
n
d
unp
r
e
d
ic
tab
le
dis
tu
r
ba
n
c
e
s
,
s
u
c
h
a
s
s
e
a
wa
te
r
c
u
r
r
e
nts
a
n
d
oc
e
a
n
w
a
v
e
s
.
No
nl
i
ne
a
r
c
on
t
r
o
l
f
o
r
t
he
un
de
r
w
a
te
r
r
ob
ot
ha
s
be
e
n
s
t
ud
ie
d
f
r
o
m
d
if
f
e
r
e
n
t
r
e
s
e
a
r
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h
.
F
o
r
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xa
mp
le
,
S
mah
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iac
he
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t
a
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,
in
t
r
o
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id
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la
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mi
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upe
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is
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in
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ol
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w
it
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t
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o
nv
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ge
nc
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o
f
mi
ni
mu
m
c
ha
tt
e
r
i
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o
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t
r
a
c
ki
ng
e
r
r
o
r
e
f
f
e
c
ts
wi
th
ou
t
a
s
i
ng
ul
a
r
i
ty
p
r
o
ble
m
[
6
]
.
S
t
e
p
he
n
C
.
e
t
a
l
,
c
o
mpa
r
in
g
the
r
e
s
u
lt
s
o
f
th
e
6
Do
F
c
o
u
ple
d
no
nl
in
e
a
r
mo
de
l
w
it
h
b
e
t
te
r
pe
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f
o
r
ma
nc
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e
s
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l
ts
w
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th
a
c
o
mp
a
r
is
on
us
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n
g
OL
S
(
o
r
d
ina
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y
lea
s
t
s
qu
a
r
e
)
,
T
L
S
(
t
ot
a
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l
e
a
s
t
s
q
ua
r
e
)
,
a
n
d
un
de
t
e
r
m
in
e
d
T
L
S
[
7
]
a
n
d
a
ls
o
in
o
t
he
r
r
e
s
e
a
r
c
h
on
m
od
e
l
-
ba
s
e
d
no
nl
i
ne
a
r
s
pe
e
d
c
o
n
tr
o
l
f
u
ll
y
c
o
up
led
3
Do
F
o
n
dy
na
m
ic
p
la
ns
s
ho
ws
th
a
t
no
n
li
ne
a
r
m
o
de
l
-
ba
s
e
d
c
o
nt
r
ol
le
r
e
r
r
o
r
t
r
a
c
k
i
ng
is
lo
we
r
tha
n
e
xc
a
s
t
l
i
ne
a
r
i
z
i
ng
mo
de
l
-
b
a
s
e
d
[
8
]
.
Ya
n
hu
i
W
e
i
e
t
a
l
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
3
,
J
une
2020:
1505
-
1513
1506
c
on
t
r
o
ll
e
r
s
c
a
n
ove
r
c
o
me
a
nd
e
s
ti
ma
te
f
a
c
to
r
s
s
uc
h
a
s
e
x
te
r
n
a
l
d
is
tu
r
ba
n
c
e
a
n
d
u
nc
e
r
ta
in
m
od
e
ls
[
9
]
.
F
o
r
t
he
c
ha
tt
e
r
i
ng
p
he
no
me
no
n
s
e
ve
r
a
l
r
e
s
e
a
r
c
h
h
a
v
e
be
e
n
c
a
r
r
ie
d
o
ut
.
D
uc
Ha
Vu
e
t
a
l
,
a
c
h
iev
e
h
ig
h
s
ta
bi
l
it
y
a
n
d
d
u
r
a
bi
li
t
y
a
nd
e
li
m
ina
te
c
ha
t
te
r
in
g
s
ig
na
ls
f
o
r
un
de
r
-
a
c
t
ua
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e
d
s
ys
te
ms
wi
th
m
is
ma
tc
he
d
u
nc
e
r
ta
in
t
ies
[
10
]
.
B
ing
S
u
n
a
n
d
Da
q
i
Z
h
u
,
c
on
t
r
o
l
le
r
s
r
e
m
ov
e
s
th
e
c
ha
t
te
r
in
g
p
he
n
o
men
on
a
nd
c
om
pe
ns
a
te
d
is
t
u
r
ba
nc
e
a
nd
no
n
li
ne
a
r
u
nc
e
r
ta
in
t
ies
i
n
d
yna
m
ic
s
ys
te
ms
b
y
r
e
p
lac
in
g
a
s
w
i
tch
i
ng
t
e
r
m
w
i
th
a
m
od
e
l
ba
s
e
d
a
d
a
p
ti
ve
S
M
C
c
o
n
ti
nu
ous
t
e
r
m
[
1
1]
.
D
in
g
N
e
t
a
l
,
p
r
o
pos
e
d
r
ob
us
t
a
da
pt
iv
e
mo
t
io
n
c
on
t
r
o
l
wi
th
v
e
l
oc
it
y
c
ons
t
r
a
in
ts
[1
2
]
.
Hos
s
e
i
ni
M
e
t
a
l,
i
n
t
r
o
duc
e
d
i
mp
r
ove
me
nt
h
o
r
i
z
o
nt
a
l
p
la
ne
R
OV
us
ing
t
he
a
da
p
t
ive
m
e
t
ho
d
[1
3
]
.
L
iu
H
e
t
a
l
,
p
r
o
pos
e
d
dis
t
r
i
bu
ti
on
t
h
r
u
s
t
c
on
t
r
o
l
us
i
ng
a
da
pt
i
v
e
b
a
c
k
-
s
te
pp
in
g
c
on
t
r
o
l
le
r
[
1
4
]
a
nd
a
ls
o
i
n
r
e
s
e
a
r
c
h
on
o
the
r
S
li
di
ng
C
on
t
r
ol
M
o
de
s
i
n
R
OV
[
15
-
1
8
]
.
I
n
a
d
d
i
t
i
o
n
,
S
M
C
i
s
u
s
e
d
b
e
c
a
u
s
e
i
t
i
s
r
o
b
u
s
t
f
o
r
c
o
n
t
r
o
l
l
i
n
g
t
h
e
d
e
p
t
h
o
f
R
O
V
i
n
u
n
c
e
r
t
a
i
n
t
y
m
o
d
e
l
i
n
g
[1
9
]
.
T
o
f
i
nd
t
he
be
s
t
v
a
l
ue
o
f
S
M
C
p
a
r
a
met
e
r
s
,
t
he
o
pt
im
i
z
a
t
i
on
te
c
h
ni
que
is
ne
e
de
d
.
S
e
ve
r
a
l
c
om
b
ina
t
io
n
S
M
C
a
nd
opt
i
mi
z
a
ti
ons
met
ho
ds
ha
ve
b
e
e
n
s
tu
di
e
d
f
r
o
m
di
f
f
e
r
e
n
t
vi
e
ws
.
C
h
e
n
g
S
io
ng
e
t
a
l
,
in
tr
od
uc
e
d
a
m
e
t
hod
to
d
e
a
l
w
i
th
li
ne
a
r
it
y
a
nd
u
nc
e
r
ta
in
t
y
o
f
i
nt
e
r
f
e
r
e
n
c
e
b
y
c
o
mp
u
ta
ti
ona
l
f
l
ui
d
d
yn
a
m
ics
[
1
]
.
Z
he
n
z
h
on
g
e
t
a
l
,
I
mm
e
a
s
u
r
a
bl
e
c
on
di
t
io
n
e
s
t
i
ma
ti
on
is
us
e
d
a
da
p
t
iv
e
l
y
on
s
l
id
in
g
-
mo
de
te
r
mi
na
ls
t
ha
t
a
r
e
o
bs
e
r
v
in
g
b
a
s
e
d
on
lo
c
a
l
R
NN
s
o
a
s
t
o
g
ua
r
a
n
tee
t
he
l
im
i
ted
t
i
me
c
o
nve
r
ge
nc
e
o
f
t
r
a
c
k
ing
e
r
r
o
r
[
2
]
.
He
r
n
a
n
de
z
-
Al
va
r
a
nd
o
R
.
e
t
a
l
,
p
r
o
pos
e
d
tu
ni
ng
p
a
r
a
met
e
r
us
i
ng
b
a
c
kp
r
o
pa
ga
ti
on
N
e
u
r
a
l
Ne
tw
or
ks
f
o
r
un
de
r
w
a
t
e
r
ve
h
ic
les
[
20
]
.
B
ut
th
os
e
op
t
im
iz
a
t
io
ns
ne
e
d
m
o
r
e
de
la
y
be
c
a
us
e
of
c
o
mp
le
xi
t
y
.
O
ne
o
f
t
he
op
t
im
iza
t
io
ns
t
ha
t
n
e
e
d
l
e
s
s
d
e
la
y
is
P
S
O
[
2
1
,
22
]
.
B
o
r
d
ol
oi
N
e
t
a
l
,
P
D
-
S
M
C
pa
r
a
me
te
r
s
a
r
e
o
pt
i
mi
z
e
d
w
it
h
P
S
O
to
s
ol
ve
hi
gh
-
f
r
e
qu
e
nc
y
c
ha
t
pr
ob
le
ms
a
nd
t
r
a
c
k
d
e
s
i
r
e
d
t
r
a
jec
to
r
ies
in
a
f
a
s
te
r
w
a
y
[
2
1
]
.
D
e
h
da
r
in
e
j
a
d
M
e
t
a
l
,
t
he
p
ha
s
e
-
s
h
if
te
d
f
u
l
l
-
b
r
i
dg
e
(
P
S
F
B
)
S
M
C
p
a
r
a
met
e
r
s
o
pt
im
iz
e
d
w
i
th
P
S
O
s
h
ow
r
o
bus
t
r
e
s
ul
ts
a
nd
to
im
p
r
o
ve
s
ys
te
m
s
p
e
e
d
a
n
d
a
c
c
u
r
a
c
y
[
2
2
]
.
T
h
e
r
e
f
o
r
e
,
i
t
is
ne
c
e
s
s
a
r
y
t
o
o
pt
i
mi
z
e
t
he
S
M
C
w
it
h
t
he
P
S
O
to
c
o
nt
r
ol
s
pe
e
d
m
ov
e
m
e
n
t
a
n
d
e
r
r
o
r
r
e
s
po
ns
e
c
on
ve
r
ge
s
to
z
e
r
o
f
o
r
R
OV
.
T
h
is
pa
p
e
r
p
r
o
pos
e
s
t
he
op
ti
m
iza
ti
on
t
un
in
g
t
e
c
h
niq
ue
M
od
i
f
i
e
d
I
nte
g
r
a
l
S
l
id
in
g
M
o
de
C
on
t
r
o
l
w
it
h
P
S
O
in
R
OV
.
T
he
pa
r
a
me
te
r
s
o
f
t
he
M
od
i
f
ied
I
nt
e
g
r
a
l
s
l
id
in
g
mo
de
c
on
t
r
o
l
c
o
ns
is
t
of
f
ou
r
pa
r
a
me
te
r
s
,
na
me
ly
γ
,
λ
,
α
,
a
n
d
β
f
o
r
e
a
c
h
of
t
he
D
o
F
s
.
M
o
d
if
ic
a
t
io
n
o
f
th
e
S
M
C
is
t
he
pl
a
n
ni
ng
o
f
di
f
f
e
r
e
nt
c
o
n
tr
ol
i
np
uts
a
c
c
o
r
d
i
ng
t
o
th
e
m
ov
e
m
e
n
t
a
tt
it
ud
e
s
o
f
th
e
5
Do
F
s
in
o
n
e
c
o
n
tr
o
l
le
d
ve
h
icl
e
.
T
h
e
n
th
e
t
ot
a
l
op
t
im
ize
d
tu
ni
ng
pa
r
a
me
te
r
s
a
r
e
t
we
nt
y
tu
ne
d
pa
r
a
me
te
r
s
f
o
r
th
e
f
i
ve
c
on
t
r
o
ll
e
d
D
o
F
s
w
i
th
s
ix
th
r
us
t
e
r
s
c
o
n
f
i
gu
r
a
t
io
n
.
T
he
be
s
t
p
a
r
a
m
e
t
e
r
s
e
le
c
t
io
n
i
s
d
one
b
y
a
c
hi
e
v
in
g
t
he
be
s
t
f
i
tn
e
s
s
v
a
l
ue
.
S
ta
b
il
it
y
T
he
o
r
y
o
f
L
ya
pu
no
v
is
c
a
lc
ula
te
d
to
pr
ov
e
i
n
t
he
o
r
y
a
bo
ut
t
he
r
e
s
ul
ts
o
f
p
a
r
a
met
e
r
va
lu
e
s
th
a
t
mus
t
be
ob
ta
ined
.
T
he
s
i
mu
la
t
io
n
r
e
s
u
lt
s
a
r
e
c
o
mpa
r
e
d
w
it
h
t
he
P
I
D
m
e
t
ho
d
.
T
h
is
c
o
mpa
r
is
o
n
is
s
e
e
n
f
r
o
m
th
e
a
c
hi
e
v
e
me
n
t
o
f
t
he
e
x
pe
c
te
d
e
r
r
or
va
l
u
e
a
nd
R
OV
s
pe
e
d
.
F
u
r
th
e
r
m
o
r
e
,
a
n
a
na
lys
is
is
c
a
r
r
ied
o
u
t
to
p
r
ove
the
a
bi
li
t
y
of
the
r
o
b
us
t
ne
s
s
i
n
th
e
p
r
o
pos
e
d
me
th
od
w
i
th
t
he
g
ive
n
p
a
r
a
met
e
r
u
nc
e
r
ta
in
t
y
va
l
ue
s
s
ta
r
t
in
g
a
t
1
0
%
u
nt
i
l
t
he
s
ys
t
e
m
c
a
n
no
t
h
a
n
dle
i
t
.
S
i
mu
la
ti
on
r
e
s
u
lt
s
a
r
e
g
iv
e
n
to
p
r
o
v
ide
a
n
i
l
lus
t
r
a
ti
on
o
f
t
he
pe
r
f
o
r
man
c
e
of
th
e
c
on
t
r
o
ll
e
r
i
n
dy
na
m
ic
s
ys
te
m
c
on
t
r
o
l
i
n
the
R
OV
.
2.
RE
S
E
AR
CH
M
E
T
HO
D
E
R
2C
R
O
V
d
e
s
i
gn
a
s
s
h
own
i
n
F
ig
u
r
e
1
[
23
]
.
E
-
R
OV
ha
s
6
u
ni
ts
th
r
u
s
te
r
s
wi
th
e
a
c
h
c
on
f
ig
u
r
a
t
i
on
.
F
o
ur
h
o
r
i
z
o
nt
a
l
t
h
r
us
te
r
s
m
ou
nt
e
d
i
n
th
e
op
pos
it
e
di
r
e
c
t
io
n
by
h
a
v
in
g
t
he
s
a
m
e
a
z
i
mu
t
h
a
ng
le
a
nd
pa
r
a
l
le
l
p
os
it
io
n
.
A
nd
on
t
wo
v
e
r
t
ica
l
t
h
r
us
te
r
s
t
ha
t
a
r
e
m
ou
nte
d
pa
r
a
l
le
l
t
o
th
e
s
a
m
e
f
a
c
i
ng
pos
it
io
n
,
b
ut
w
it
h
d
i
f
f
e
r
e
n
t
f
o
r
c
e
v
e
c
to
r
.
F
o
r
S
u
r
ge
,
S
w
a
y
,
a
n
d
Y
a
w
mo
t
io
n
us
in
g
th
r
us
t
e
r
s
n
u
mbe
r
1
,
2
,
3
,
a
n
d
4
w
i
th
c
ha
ng
e
s
o
f
d
ir
e
c
ti
on
r
ota
t
io
n
.
F
o
r
H
e
a
ve
a
n
d
P
i
tc
h
m
ot
io
n
us
i
ng
v
e
r
t
ica
l
t
h
r
us
te
r
s
num
be
r
s
5
a
nd
6
.
T
he
R
OV
’
s
pi
tc
h
a
n
d
ya
w
mo
ti
on
a
r
e
a
c
t
ive
l
y
c
on
t
r
o
ll
e
d
wh
il
s
t
the
r
ol
l
mo
ti
on
is
na
t
u
r
a
ll
y
d
e
pe
ndi
n
g
o
n
t
he
B
uo
ya
n
c
y
e
f
f
e
c
t
.
F
igur
e
1.
E
-
R
OV
’
s
c
oor
dinate
s
ys
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
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NI
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e
lec
omm
un
C
omput
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l
C
ontr
o
l
V
e
locity
c
ontr
ol
of
R
OV
us
ing
modifi
e
d
in
tegr
al
S
M
C
w
it
h
opti
miz
ati
on
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un
ing…
(
Sy
adz
a
A
ti
k
a
R
ah
mah
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1507
T
he
e
f
f
e
c
t
is
mos
tl
y
ge
ne
r
a
ted
by
the
uppe
r
s
ide
hul
ls
,
a
s
c
a
n
be
s
e
e
n
in
F
igur
e
1
that
the
r
ol
l
moveme
nt
will
na
tur
a
ll
y
be
ne
ut
r
a
li
z
e
d.
T
he
r
e
a
r
e
two
r
e
f
e
r
e
nc
e
f
r
a
me
that
wa
s
us
e
d
in
th
is
wor
k
i
.
e
.
wo
r
ld
-
f
ixed
r
e
f
e
r
e
nc
e
f
r
a
me
(
W
)
a
nd
bod
y
-
f
ixed
r
e
f
e
r
e
nc
e
f
r
a
me
(
B
)
.
F
or
f
r
a
me
-
W
it
is
a
c
ombi
na
ti
on
of
di
r
e
c
ti
ons
in
the
wor
ld,
whe
r
e
the
x
-
a
xis
point
s
nor
th
,
the
y
-
a
xis
point
s
to
the
e
a
s
t,
a
nd
the
z
-
a
xis
lea
ds
to
the
mi
d
point
of
the
e
a
r
th.
W
he
r
e
a
s
f
or
B
-
f
r
a
me
is
c
ondit
ioni
ng
on
t
he
body
of
th
e
E
-
R
OV
ve
hicle
it
s
e
lf
,
whe
r
e
the
x
-
a
xis
lea
ds
to
the
f
or
wa
r
d
dir
e
c
ti
on
o
f
the
ve
hicle
,
the
y
-
a
xis
lea
ds
to
the
r
ight
di
r
e
c
ti
on
of
the
ve
hicle
,
a
nd
the
z
-
a
xis
lea
ds
to
the
ve
r
ti
c
a
l
a
xis
be
low
the
ve
hicle
.
T
he
f
oll
o
wing
is
a
de
s
c
r
ipt
ion
o
f
the
f
r
a
me
us
e
d
in
the
E
-
R
OV
.
All
de
gr
e
e
s
of
f
r
e
e
dom
in
thi
s
s
tudy
c
a
n
be
de
mon
s
tr
a
ted
with
the
s
tate
s
pa
c
e
a
s
:
̇
=
(
)
+
(
)
+
(
1)
[
̈
̈
̈
∅
̈
̈
̈
]
=
[
+
|
|
|
|
+
̇
0
0
0
0
0
0
+
|
|
|
|
+
̇
0
0
0
0
0
0
+
|
|
|
|
+
̇
0
0
0
0
0
0
+
|
|
|
|
+
̇
0
0
0
0
0
0
+
|
|
|
|
+
̇
0
0
0
0
0
0
+
|
|
|
|
+
̇
]
[
̇
̇
̇
∅
̇
̇
̇
]
+
[
(
−
)
s
in
(
)
+
̇
0
−
(
−
)
cos
(
)
cos
(
∅
)
+
̇
0
(
−
)
s
in
(
)
+
̇
0
]
+
[
0
,
707
(
−
1
+
2
+
3
−
4
)
+
̇
0
,
707
(
1
+
2
−
3
−
4
)
+
̇
5
−
6
+
̇
0
+
̇
0
,
03
(
1
−
2
−
3
+
4
)
+
0
,
1
99
5
+
0
,
303
6
+
̇
0
,
2
91
(
−
1
+
4
)
+
0
,
245
(
2
+
3
)
+
̇
]
(
2)
W
he
r
e
f
(
v
)
is
a
f
unc
ti
on
c
ons
is
ti
ng
of
a
dding
li
ne
a
r
e
f
f
e
c
ts
a
nd
nonli
ne
a
r
a
tt
e
nua
ti
on
divi
de
d
by
mas
s
,
(
)
is
the
e
f
f
e
c
t
of
hydr
os
tatic,
a
nd
u
is
the
input
c
ontr
ol
f
or
c
e
thr
us
ter
s
.
I
nput
is
obtaine
d
f
r
o
m
the
s
li
ding
mode
c
ontr
ol
de
s
ign
c
ontr
ol.
S
li
ding
M
ode
C
ontr
ol
is
one
of
the
s
im
ples
t
c
ontr
ol
f
or
ms
on
r
obus
t
c
ontr
oll
ing
a
ppr
oa
c
he
s
.
S
e
tt
leme
nt
us
ing
S
M
C
by
s
im
pli
f
y
ing
the
f
or
mul
a
ti
on
mea
ns
that
it
r
e
plac
e
s
the
pr
oblem
with
the
high
or
de
r
va
lue
(
nth
)
with
the
p
r
oblem
o
f
s
tabili
t
y
on
the
1
st
or
de
r
[
24
]
.
B
a
s
e
d
on
tr
a
c
king
e
r
r
or
ve
c
tor
s
a
nd
de
r
ivatives
in
tr
a
ns
lational
a
nd
r
otational
s
pe
e
ds
,
n
a
mely:
=
−
(
3)
̇
=
̇
−
̇
(
4)
whe
r
e
=
[
̇
,
̇
,
̇
,
̇
,
̇
,
̇
]
is
the
pos
it
ion
ve
c
tor
a
nd
the
s
e
tpoi
nt
or
de
s
ir
e
d
a
tt
it
ude
o
f
E
-
R
OV
a
nd
v
is
the
r
e
s
ult
of
the
E
-
R
OV
s
ys
tem.
B
e
c
a
us
e
the
dyna
mi
c
s
ys
tem
on
E
-
R
OV
is
a
f
ir
s
t
-
or
de
r
s
ys
tem
f
or
c
ontr
oll
ing
the
s
pe
e
d
of
moveme
nt
of
E
-
R
OV
,
then
the
s
li
ding
s
ur
f
a
c
e
f
or
e
a
c
h
DoF
c
a
n
be
de
s
igned
a
s
f
oll
ows
:
=
+
∫
(
5)
f
or
i
s
a
t
r
a
c
king
e
r
r
o
r
ve
c
tor
,
is
pos
it
ive
r
e
in
f
or
c
e
ment
a
nd
to
c
ompens
a
te
the
e
f
f
e
c
t
of
a
n
int
e
g
r
a
tor
,
γi
a
s
the
int
e
gr
a
tor
s
,
a
nd
s
i
is
a
ve
c
tor
of
s
li
ding
s
ur
f
a
c
e
s
.
γi
pa
r
a
mete
r
a
ddit
ion
ha
s
a
f
unc
ti
on
a
s
a
n
int
e
gr
a
tor
f
o
r
opti
mi
z
ing
e
r
r
or
to
be
z
e
r
o.
I
nput
c
ontr
ol
is
done
by
r
e
duc
ing
the
e
r
r
or
va
lue
in
(
4)
,
the
dyna
mi
c
c
ontr
ol
s
ys
tem
in
s
li
ding
mode
be
c
omes
̇
a
nd
it
s
de
r
ivate
va
lues
be
c
ome:
̇
=
̇
+
(
6)
s
ubs
ti
tut
ing
(
4)
a
nd
(
1)
the
dyna
mi
c
r
e
s
ult
s
c
a
n
be
wr
it
ten
a
s
:
̇
=
(
̇
−
(
(
)
+
(
)
+
)
)
+
(
7)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
3
,
J
une
2020:
1505
-
1513
1508
T
he
input
va
lue
is
ne
e
de
d
to
c
a
nc
e
l
the
ne
w
dyna
mi
c
e
f
f
e
c
t
c
a
ll
e
d
u
eq
a
nd
the
s
li
ding
c
ontr
o
ll
e
r
inpu
t
mode
na
med
u
s
m
c
,
the
s
um
of
the
two
input
s
c
a
n
be
f
or
mul
a
ted
a
s
a
c
ontr
ol
input
.
I
n
thi
s
pa
pe
r
,
we
pr
opos
e
the
u
s
m
c
mo
di
f
ica
ti
on
by
c
ombi
ning
the
dis
c
onti
nu
ous
f
unc
ti
on
s
ign(
s
)
a
nd
s
a
t(
s
)
a
c
c
or
ding
to
the
be
ha
vior
of
e
a
c
h
DoF
moveme
nt.
W
it
h
c
ontr
ol
input
a
s
f
oll
ow
s
:
(
̇
)
=
(
̈
−
1
(
̇
)
−
1
(
)
+
ℯ
)
1
+
+
(
)
(
8)
(
̇
)
=
(
̈
−
2
(
̇
)
−
2
(
)
+
ℯ
)
1
+
+
(
)
(
9)
(
̇
)
=
(
̈
−
3
(
̇
)
−
3
(
)
+
ℯ
)
1
+
+
(
)
(
10)
(
̇
)
=
(
̈
−
4
(
̇
)
−
4
(
)
+
ℯ
)
1
+
+
(
)
(
11)
(
̇
)
=
(
̈
−
5
(
̇
)
−
5
(
)
+
ℯ
)
1
+
+
(
)
(
12)
(
̇
)
=
(
̈
−
5
(
̇
)
−
5
(
)
+
ℯ
)
1
+
+
(
)
(
13)
α
a
nd
β
a
r
e
ga
in
a
nd
dis
c
onti
nue
ga
in
to
r
e
a
c
h
th
e
s
li
ding
manif
old.
s
at(
s
i
)
f
unc
ti
on
c
a
n
he
lp
mi
ni
mi
z
a
ti
on
c
ha
tt
e
r
ing
phe
nomenon
[
2
5
]
with
f
unc
ti
on
a
s
f
oll
o
ws
:
(
)
=
|
|
+
(
14)
whe
r
e
is
a
pos
it
ive
va
lue
.
I
n
thi
s
pa
pe
r
,
in
a
ddit
i
on
to
the
modi
f
ica
ti
on
o
f
the
S
M
C
input
c
ontr
ol
,
it
a
ls
o
c
a
r
r
ied
out
the
opti
mi
z
a
ti
on
of
the
f
our
pa
r
a
mete
r
s
of
e
a
c
h
DoF
with
pa
r
t
icle
s
wa
r
m
opti
m
iza
ti
on
(
P
S
O)
.
P
S
O
ha
s
a
r
obus
t
a
bil
it
y
f
or
nonli
ne
a
r
it
y
pr
oblems
[
26]
with
ve
locity
va
lues
a
nd
pos
it
ions
of
e
a
c
h
pa
r
a
met
e
r
.
And
the
r
e
ne
wa
l
f
unc
ti
on
on
e
a
c
h
pa
r
a
mete
r
,
i
.
e
.
:
,
+
1
=
.
,
+
1
.
1
.
(
,
−
ϼ
,
)
+
2
.
2
.
(
−
ϼ
,
)
(
15)
ϼ
,
+
1
=
ϼ
,
+
,
+
1
(
16)
whe
r
e
a
nd
ϼ
a
r
e
ve
locity
a
nd
pos
it
ion
upda
te
of
pa
r
a
mete
r
,
,
,
,
c
1
a
nd
c
2
a
r
e
two
pos
it
ive
c
ons
tants
,
r
1
a
nd
r
2
a
r
e
r
a
ndom
f
unc
ti
ons
in
the
r
a
n
ge
{0,
1},
Pb
i
,
d
is
the
be
s
t
pos
it
ion
f
o
r
a
pa
r
ti
c
le
(
i
)
ba
s
e
d
on
it
s
own
pos
it
ion,
a
nd
g
bd
is
the
be
s
t
pos
it
ion
a
c
hieve
d
by
a
ll
pa
r
ti
c
les
in
the
s
wa
r
m.
T
he
a
ddit
ion
of
iner
ti
a
we
ight
(
w)
ha
s
a
n
e
f
f
e
c
t
on
the
c
ha
nc
e
to
f
ind
a
bi
gge
r
global
pos
it
ion
with
a
r
e
a
s
ona
ble
it
e
r
a
ti
on
to
im
pr
ove
P
S
O
pe
r
f
o
r
manc
e
.
T
ha
t
i
s
a
c
ombi
na
ti
on
of
s
e
ve
r
a
l
loca
l
s
oul
-
ba
s
e
d
methods
ba
s
e
d
on
int
uit
ion
or
e
mpi
r
ica
l
r
ules
to
obtain
the
be
s
t
s
olut
ion
in
a
r
e
latively
s
hor
t
ti
me.
T
he
us
e
of
S
M
C
with
pa
r
a
mete
r
op
ti
mi
z
a
ti
on
us
ing
P
S
O
is
il
lus
tr
a
ted
in
the
b
lock
diagr
a
m
a
s
F
igur
e
2
.
F
ig
ur
e
2.
C
ontr
ol
s
ys
tem
diagr
a
m
blok
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
V
e
locity
c
ontr
ol
of
R
OV
us
ing
modifi
e
d
in
tegr
al
S
M
C
w
it
h
opti
miz
ati
on
t
un
ing…
(
Sy
adz
a
A
ti
k
a
R
ah
mah
)
1509
2.
1.
S
t
ab
il
it
y
a
n
alys
is
T
he
s
tabili
ty
of
the
pr
opos
e
d
c
ontr
ol
input
u
(i
)
c
a
n
be
a
na
lyze
d
us
ing
L
ya
punov
f
unc
ti
on
.
L
ya
punov
f
unc
ti
on
a
s
f
oll
ow:
=
1
2
2
(
17)
w
it
h
i
f
or
the
5
DoF
in
the
E
-
R
OV
r
e
s
pons
e
s
.
T
he
v
a
lue
of
the
de
r
ivative
L
ya
punov
f
unc
ti
on
is
us
e
d
to
a
na
lyze
the
s
tabili
ty
of
5
DoF
s
ys
tem.
F
or
S
ur
ge
a
nd
He
a
v
e
moveme
nt,
the
a
na
lys
is
be
c
omes
:
̇
̇
=
̇
(
−
̇
−
̇
(
)
)
(
18)
a
nd
f
or
the
other
DoF
the
a
na
lys
is
be
c
omes
:
̇
̇
=
̇
(
−
̇
−
̇
(
)
)
(
19)
̇
=
−
2
−
|
|
(
20)
f
r
om
(
18)
a
nd
(
19
)
c
a
n
be
a
na
lyze
d
that
the
s
ys
tem
f
or
5
DoF
is
globally
s
table
with
the
S
M
C
pa
r
a
mete
r
s
a
r
e
:
λ
i
α
i
>
0
(
21)
λ
i
β
i
>
0
(
22)
3.
RE
S
UL
T
S
A
ND
AN
AL
YSI
S
T
he
pur
pos
e
of
the
s
im
ulation
is
to
f
ind
out
a
nd
p
r
ove
the
im
pleme
ntation
of
the
c
ontr
o
l
s
ys
tem
that
ha
s
be
e
n
f
or
mul
a
ted
to
be
a
ppli
e
d.
T
he
s
im
ulation
c
ons
is
ted
of
two
tes
ts
,
na
mely
s
pe
e
d
a
nd
r
obus
t
r
e
s
pons
e
.
T
wo
s
im
ulations
a
r
e
done
by
c
ompar
ing
the
r
e
s
ult
s
of
obs
e
r
va
ti
ons
of
tr
a
c
king
r
e
s
pons
e
s
a
nd
s
li
ding
s
ur
f
a
c
e
s
be
twe
e
n
the
P
I
D
c
ontr
oll
e
r
a
nd
p
r
opos
e
d
method.
P
r
e
de
ter
mi
ne
d
pa
r
a
mete
r
s
a
r
e
obtaine
d
f
r
om
mea
s
ur
e
ment,
ther
e
a
r
e
the
we
ight
o
f
the
ve
hicle
on
the
a
ir
is
28
.
9
kg,
to
tal
vol
u
me
a
t
29
.
3
li
ter
s
,
the
c
e
nter
o
f
gr
a
vit
y
of
R
OV
r
g
=
[
0
,
0,
0
]
T
,
a
nd
c
e
nter
o
f
buoya
nc
y
r
b
=
[
0,
0
,
-
54.
697mm
]
T
.
And
the
S
M
C
-
PSO
-
M
OD
I
F
pa
r
a
mete
r
tuni
ng
r
e
s
ult
s
obtaine
d
the
be
s
t
f
it
ne
s
s
va
lue
that
is
0.
6485
with
the
c
onve
r
ge
nc
e
of
pa
r
a
mete
r
s
a
s
s
hown
in
the
f
oll
owing
F
igur
e
3
.
F
igur
e
3.
F
it
ne
s
s
ge
ne
r
a
ti
on
(
S
M
C
-
PSO
-
M
OD
I
F
)
F
igur
e
4
(
a
)
s
hows
that
the
s
e
lec
ti
on
of
the
be
s
t
p
a
r
a
mete
r
s
f
or
S
u
r
ge
,
S
wa
y,
a
nd
He
a
ve
moveme
nt
a
nd
F
igur
e
4
(
b)
f
or
R
oll
,
P
it
c
h
,
a
nd
Ya
w
moveme
n
t
ha
s
be
e
n
s
uc
c
e
s
s
f
ul
ba
s
e
d
on
the
c
onve
r
ge
nc
e
va
l
ue
whic
h
is
a
ls
o
e
videnc
e
d
by
the
c
onve
r
ge
nc
e
va
lue
o
f
the
f
it
ne
s
s
ge
ne
r
a
ti
on
in
F
igu
r
e
3.
And
to
c
ompar
e
the
input
c
a
pa
bil
it
y
o
f
the
pr
opos
e
d
method,
the
tuni
ng
o
f
the
pa
r
a
mete
r
va
lue
is
c
ompa
r
e
d
with
the
c
onve
nti
o
na
l
S
M
C
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
3
,
J
une
2020:
1505
-
1513
1510
(
a
)
(
b)
F
igur
e
4.
Upda
te
ge
ne
r
a
ti
on
(
S
M
C
-
PSO
-
M
OD
I
F
)
;
(
a
)
s
ur
ge
,
s
wa
y,
he
a
ve
(
b)
r
oll
,
pit
c
h
,
ya
w
(
a
)
(
b)
F
igur
e
5.
R
e
s
pons
e
of
s
ur
ge
moveme
nt
;
(
a
)
e
r
r
or
(
b)
ve
locity
(
a
)
(
b)
F
igur
e
6.
R
e
s
pons
e
of
s
wa
y
moveme
nt
;
(
a
)
e
r
r
o
r
(
b
)
ve
locity
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
V
e
locity
c
ontr
ol
of
R
OV
us
ing
modifi
e
d
in
tegr
al
S
M
C
w
it
h
opti
miz
ati
on
t
un
ing…
(
Sy
adz
a
A
ti
k
a
R
ah
mah
)
1511
(
a
)
(
b)
F
igur
e
7.
R
e
s
pons
e
of
he
a
ve
moveme
nt
;
(
a
)
e
r
r
or
(
b)
ve
locity
(
a
)
(
b)
F
igur
e
8.
R
e
s
pons
e
of
pit
c
h
moveme
nt
;
(
a
)
e
r
r
o
r
(
b
)
ve
locity
(
a
)
(
b)
F
igur
e
9.
R
e
s
pons
e
of
ya
w
moveme
nt
;
(
a
)
e
r
r
or
(
b)
ve
locity
F
or
the
s
ur
ge
r
e
s
pons
e
in
F
igur
e
5
a
nd
he
a
ve
r
e
s
pons
e
in
F
igur
e
7
the
c
ha
tt
e
r
ing
phe
nomenon
in
c
onve
nti
ona
l
S
M
C
c
a
n
be
r
e
s
olved
by
modi
f
ying
th
e
S
M
C
-
P
S
O
a
nd
ha
s
a
be
tt
e
r
r
e
s
pons
e
than
the
pr
op
or
ti
ona
l
S
M
C
.
F
or
r
e
s
pons
e
s
to
s
wa
y,
pit
c
h,
a
nd
he
a
ve
r
e
s
p
ons
e
in
F
igur
e
6
,
F
igu
r
e
8
,
a
nd
F
igu
r
e
9
the
pr
opos
e
d
method
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
3
,
J
une
2020:
1505
-
1513
1512
c
a
n
im
pr
ov
e
the
r
e
s
pons
e
of
c
onve
nti
ona
l
S
M
C
by
a
c
hieving
a
be
tt
e
r
s
e
tpoi
nt.
I
n
c
ont
r
a
s
t
to
c
onve
nti
ona
l
S
M
C
whic
h
s
ti
ll
ha
s
g
r
e
a
ter
ove
r
s
hoot
a
nd
e
r
r
or
va
lues
.
T
his
c
a
n
be
pr
ove
n
by
c
a
lcula
ti
ng
the
number
a
nd
mea
n
of
a
bs
olut
e
e
r
r
or
.
F
or
the
c
ompar
is
on
va
lue
of
the
e
r
r
or
va
lue
of
e
a
c
h
moveme
nt
in
T
a
ble
1
c
a
n
be
a
na
l
yz
e
d
that
the
pr
opos
e
d
method
ha
s
a
n
incr
e
a
s
e
in
the
mea
n
a
bs
olut
e
e
r
r
or
va
lue.
I
n
s
ur
ge
inc
r
e
a
s
e
d
0.
0008
m/
s
,
f
or
s
wa
y
incr
e
a
s
e
d
0.
0044
m/
s
,
s
wa
y
ha
d
a
n
incr
e
a
s
e
o
f
0.
01
29
m/
s
,
pit
c
h
ha
d
a
n
inc
r
e
a
s
e
of
0.
0304
r
a
d/s
,
a
nd
i
n
ya
w
it
ha
d
a
n
inc
r
e
a
s
e
of
0.
0373
r
a
d/s
.
P
r
oof
of
L
ya
punov
s
tabili
ty
a
na
lys
is
,
pa
r
a
mete
r
va
lues
obtain
e
d
f
r
om
the
P
S
O
tuni
ng
a
r
e
in
T
a
ble
2
.
T
a
ble
1.
C
ompar
e
of
tr
a
c
king
e
r
r
or
D
oF
S
um Abs
ol
ut
e
E
r
r
or
M
e
a
n A
bs
ol
ut
e
E
r
r
or
S
M
C
P
r
opos
e
d M
e
th
od
S
M
C
P
r
opos
e
d M
e
th
od
S
ur
ge
(
m/
s
)
167.0452
164.7218
0.0570
0.0562
S
w
a
y (
m/
s
)
161.3301
174.2008
0.0594
0.055
H
e
a
ve
(
m/
s
)
162.9408
125.2657
0.0556
0.0427
P
it
c
h (
r
a
d/
s
)
230.9396
141.9494
0.0788
0.0484
Y
a
w
(
r
a
d/
s
)
251.0972
141.9494
0.0857
0.0484
T
a
ble
2.
Va
lue
of
S
M
C
a
nd
modi
f
ied
S
M
C
-
P
S
O
D
oF
S
M
C
P
a
r
a
me
te
r
s
M
odi
f
ie
d I
nt
e
gr
a
l
S
M
C
-
PSO
γ
λ
α
Β
γ
λ
α
Β
S
ur
ge
1.0659
2.5797
1.5529
1.0314
1.9582
3.3255
0.8453
1.8029
S
w
a
y
1.8361
2.4995
1.7096
1.4783
2.3709
1.3932
2.9328
1.0810
H
e
a
ve
2.9795
1.2858
2.1891
1.5468
2.0231
2.3954
1.6554
1.5504
P
it
c
h
3.1552
2.3245
2.8270
0.9028
1.8190
2.2536
2.2444
0.8809
Y
a
w
1.5822
3.5552
0.3306
1.1518
1.2332
4.0079
1.0725
0.8315
T
his
is
ba
s
e
d
on
L
ya
punov's
s
tabili
ty
a
na
lys
is
,
that
the
s
ys
tem
will
be
s
table
if
it
c
onf
or
ms
to
the
c
ondit
ions
(
2
1
)
a
nd
(
2
2
)
.
I
n
T
a
ble
2
it
c
a
n
be
a
na
lyze
d
that
the
r
e
s
ult
o
f
the
pa
r
a
mete
r
va
lue
is
gr
e
a
ter
than
z
e
r
o.
Va
lues
that
c
onf
o
r
m
to
the
r
e
quir
e
men
ts
mak
e
the
s
ys
tem
s
table
with
dif
f
e
r
e
nt
s
tabili
ty
va
lues
b
a
s
e
d
on
the
a
c
c
ur
a
c
y
of
the
pa
r
a
mete
r
s
e
lec
ti
on.
And
the
pa
r
a
mete
r
a
djus
tm
e
nt
with
opti
mal
tuni
ng
P
S
O
h
a
s
mor
e
opti
mal
r
e
s
ult
s
c
ompar
e
d
to
c
onve
nti
ona
l
S
M
C
wit
hout
opti
mal
tun
ing.
4.
CONC
L
USI
ON
I
n
thi
s
pa
pe
r
,
the
M
odif
ied
I
ntegr
a
l
S
li
ding
C
ontr
o
l
with
tuni
ng
opti
mi
z
a
ti
on
pa
r
a
mete
r
s
with
P
S
O
is
uti
li
z
e
d
f
or
c
ontr
oll
ing
the
E
-
R
OV
’
s
s
pe
e
d.
T
he
a
i
m
of
thi
s
wor
k
ha
s
be
e
n
a
c
hieve
d.
T
he
s
pe
e
d
of
th
e
ve
hicle
c
a
n
be
r
e
s
olved
a
c
c
or
ding
to
the
s
e
tpoi
nt
by
i
mpr
oving
tr
a
c
king
e
r
r
or
c
ompar
e
d
to
c
onve
nti
o
na
l
S
M
C
.
T
his
method
c
a
n
make
the
e
r
r
or
a
nd
s
li
ding
s
ur
f
a
c
e
de
c
r
e
a
s
e
or
c
onve
r
ge
s
to
z
e
r
o
a
c
c
or
ding
to
the
pur
pos
e
of
the
ini
ti
a
l
c
ontr
ol
de
s
ign
c
ompar
e
d
to
the
S
M
C
c
onve
nti
ona
l
.
C
ompar
e
with
S
M
C
c
onve
nti
ona
l,
pr
o
pos
e
d
method
im
pr
ove
tr
a
c
king
e
r
r
o
r
f
or
s
ur
ge
,
s
wa
y,
he
a
ve
,
pit
c
h,
a
nd
ya
w
a
r
e
0.
0008
m/
,
0.
0044
m/
s
,
0.
0
129
m/
s
,
0.
0304
r
a
d/s
,
a
nd
0
.
0373
r
a
d/s
.
RE
F
E
RE
NC
E
S
[1
]
C.
S.
Ch
i
n
an
d
W
.
P.
L
i
n
,
”Ro
b
u
s
t
G
en
et
i
c
A
l
g
o
r
i
t
h
m
an
d
Fu
zzy
I
n
feren
ce
Mec
h
an
i
s
m
E
mb
e
d
d
e
d
i
n
Sl
i
d
i
n
g
-
M
o
d
e
Co
n
t
r
o
l
l
er
fo
r
U
n
cer
t
a
i
n
U
n
d
er
w
a
t
er
Ro
b
o
t
,
”
I
E
E
E
/
A
S
M
E
Tr
a
n
s
a
ct
i
o
n
o
n
M
ec
h
a
t
r
o
n
i
cs
,
v
o
l
.
2
3
,
n
o
.
2
,
p
p
.
6
5
5
-
6
6
6
,
2
0
1
8
.
[2
]
Z
.
Ch
u
,
D
.
Z
h
u
,
an
d
S.
X
.
Y
an
g
,
“O
b
s
erv
er
-
Ba
s
ed
A
d
ap
t
i
v
e
N
eu
ra
l
N
e
t
w
o
rk
T
ra
j
ect
o
ry
T
rack
i
n
g
Co
n
t
ro
l
fo
r
Remo
t
e
l
y
O
p
era
t
ed
V
e
h
i
cl
e,
”
IE
E
E
T
r
a
n
s
a
ct
i
o
n
o
n
Neu
r
a
l
Net
w
o
r
k
s
a
n
d
Le
a
r
n
i
n
g
S
ys
t
em
s
,
v
o
l
.
28,
n
o
.
7
,
pp.
1
6
3
3
-
1
6
4
5
,
2
0
1
6
.
[3
]
C.
D
.
Mak
av
i
t
a,
et
al
,
“E
x
p
er
i
men
t
al
St
u
d
y
o
f
Co
mman
d
G
o
v
ern
o
r
A
d
a
p
t
i
v
e
Co
n
t
r
o
l
fo
r
U
n
man
n
ed
U
n
d
er
w
at
er
V
eh
i
cl
e
s
,
”
IE
E
E
Tr
a
n
s
.
O
n
Co
n
t
r
o
l
S
ys
t
em
s
Tech
n
o
l
o
g
y
,
v
o
l
.
2
7
,
n
o
.
1
,
p
p
.
3
3
2
-
3
4
5
,
2
0
1
7
.
[4
]
Z
.
Q
i
n
g
j
u
n
,
et
a
l
.
”
Res
earch
o
n
D
y
n
ami
c
Po
s
i
t
i
o
n
i
n
g
o
f
Mo
d
e
l
-
Co
n
v
er
t
ed
RO
V
A
n
t
i
-
w
a
v
es
Bas
e
d
o
n
Mi
cro
In
e
rt
i
a
l
N
av
i
g
a
t
i
o
n
Sen
s
o
r
s
,
”
10
th
In
t
.
Co
n
f
.
o
n
S
en
s
i
n
g
Tech
n
o
l
o
g
y
(ICS
T)
,
p
p
.
1
-
6
,
2
0
1
6
.
[5
]
A
.
R.
Marzb
an
ra
d
,
M.
E
g
h
t
e
s
ad
a
n
d
R.
K
amal
i
,
“A
r
o
b
u
s
t
a
d
ap
t
i
v
e
fu
zz
y
s
l
i
d
i
n
g
m
o
d
e
c
o
n
t
ro
l
l
er
fo
r
t
raj
ec
t
o
ry
t
rack
i
n
g
o
f
R
O
V
s
,
”
50
th
IE
E
E
Co
n
f
.
o
n
D
ec
i
s
i
o
n
a
n
d
C
o
n
t
r
o
l
a
n
d
E
u
r
o
p
e
a
n
C
o
n
t
r
o
l
C
o
n
f
er
e
n
ce
,
p
p
.
2
8
6
3
-
2
8
7
0
,
2
0
1
1
.
[6
]
S.
Ri
ach
e,
M.
K
i
d
o
u
c
h
e
a
n
d
A
.
Rezo
u
g
,
”
A
d
a
p
t
i
v
e
r
o
b
u
s
t
n
o
n
s
i
n
g
u
l
ar
t
ermi
n
al
s
l
i
d
i
n
g
m
o
d
e
d
e
s
i
g
n
c
o
n
t
ro
l
l
er
fo
r
q
u
a
d
ro
t
o
r
aeri
a
l
man
i
p
u
l
a
t
o
r,
”
TE
LKO
M
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[7
]
S.
C.
Mart
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L
.
W
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,
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Evaluation Warning : The document was created with Spire.PDF for Python.
T
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ontr
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locity
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(
Sy
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a
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ah
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1513
[8
]
S.
C.
Mart
i
n
an
d
L
.
L
.
W
h
i
t
co
m
b
,
“N
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Mo
d
el
-
B
as
ed
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k
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n
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p
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4
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2
0
1
7
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[9
]
Y
.
W
ei
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et
a
l
.
,
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d
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v
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In
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ra
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d
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.
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ran
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cal
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A
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1
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B.
Su
n
an
d
D
.
Z
h
u
,
“A
ch
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t
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n
g
-
fr
ee
s
l
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d
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-
mo
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rem
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y
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p
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d
v
eh
i
cl
es
,
”
2
0
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1
Ch
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e
Co
n
t
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(CCD
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),
p
p
.
4
1
7
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7
8
,
2
0
1
1
.
[1
2
]
N
.
D
i
n
g
,
et
al
,
“
Ro
b
u
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ad
ap
t
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v
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In
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,
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p
.
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7
,
2
0
1
0
.
[1
3
]
M.
H
o
s
s
ei
n
i
an
d
S.
Sey
e
d
t
a
b
ai
i
,
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r
o
v
eme
n
t
i
n
RO
V
h
o
ri
z
o
n
t
al
p
l
a
n
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cr
u
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s
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s
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a
d
ap
t
i
v
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met
h
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d
,
”
24
t
h
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a
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p
p
.
1
8
9
2
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9
6
,
2
0
1
6
.
[1
4
]
H
.
L
i
u
,
et
al
,
“
O
p
erat
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d
RO
V
t
h
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u
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as
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ad
ap
t
i
v
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b
ac
k
-
s
t
ep
p
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n
g
c
o
n
t
ro
l
l
er
,
”
35
t
h
Ch
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es
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Co
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o
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Co
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f
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en
ce
(CCC),
p
p
.
4
6
3
3
-
4
3
9
,
2
0
1
6
.
[1
5
]
M.
U
.
K
h
a
l
i
d
,
et
a
l
,
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d
el
i
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g
an
d
T
ra
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ect
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ry
T
rac
k
i
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o
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Rem
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w
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cl
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g
H
i
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h
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O
rd
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Sl
i
d
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n
g
Mo
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Co
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ro
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,
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2
0
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6
th
In
t
er
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a
t
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ci
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ce
s
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d
Tech
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y
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T)
,
p
p
.
8
5
5
-
8
6
0
,
2
0
1
9
.
[1
6
]
M.
A
l
i
b
a
n
i
,
C.
Ferrara
a
n
d
L
.
Po
l
l
i
n
i
,
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u
p
er
T
w
i
s
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n
g
Sl
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d
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M
o
d
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U
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d
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er
V
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l
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,
”
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A
N
S
2
0
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8
M
T
S
/
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E
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E
Ch
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r
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s
t
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.
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l
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o
n
,
p
p
.
1
-
7
,
2
0
1
8
.
[1
7
]
T
.
Q
.
V
o
,
H
.
S.
K
i
m
an
d
B.
R.
L
ee,
”A
St
u
d
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T
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S
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p
p
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1
5
5
6
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5
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1
,
2
0
1
0
.
[1
8
]
J
.
W
an
g
,
et
a
l
,
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d
e
l
l
i
n
g
,
Paramet
ers
Id
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t
i
f
i
cat
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o
n
an
d
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d
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ro
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Sy
s
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em
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f
an
Remo
t
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O
p
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e
d
V
e
h
i
c
l
e,
”
35
t
h
C
h
i
n
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C
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n
f
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ce
(CCC)
,
p
p
.
2
1
4
6
-
2
1
5
0
,
2
0
1
6
.
[1
9
]
Y
.
W
an
g
,
et
al
.
“D
ep
t
h
co
n
t
r
o
l
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f
remo
t
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y
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p
erat
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d
v
eh
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c
l
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u
s
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n
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l
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fas
t
t
ermi
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s
l
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d
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g
mo
d
e
co
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t
ro
l
met
h
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d
,
”
2
0
1
3
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CE
A
NS
–
San
D
i
eg
o
,
p
p
.
1
-
6
,
2
0
1
3
.
[2
0
]
R.
H
ern
an
d
ez
-
A
l
v
arad
o
,
et
a
l
.,
“Sel
f
-
t
u
n
ed
PID
co
n
t
r
o
l
b
as
e
d
o
n
b
ack
p
ro
p
ag
a
t
i
o
n
N
e
u
ral
N
e
t
w
o
r
k
s
fo
r
u
n
d
erw
at
er
v
eh
i
cl
e
s
,
”
O
CE
A
NS
2
0
1
6
M
T
S
/
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E
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E
M
o
n
t
e
r
ey
,
p
p
.
1
-
5,
2
0
1
6
.
[2
1
]
N
.
Bo
rd
o
l
o
i
a
n
d
M.
Bu
rag
o
h
a
i
n
,
”Bac
t
eri
a
f
o
rag
i
n
g
o
p
t
i
mi
zed
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n
d
m
o
d
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fi
e
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p
t
i
m
i
zed
P
D
-
SMC
a
n
d
PI
D
-
S
MC
co
n
t
ro
l
l
er
fo
r
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v
er
t
ed
p
en
d
u
l
u
m
s
y
s
t
em,
”
2
0
1
7
In
t
er
n
a
t
i
o
n
a
l
C
o
n
f
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ce
o
n
S
m
a
r
t
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r
i
d
s
,
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o
wer
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n
d
A
d
v
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n
ced
Co
n
t
r
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l
E
n
g
i
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g
(IC
S
P
A
CE
)
,
p
p
.
1
7
1
-
1
7
6
,
2
0
1
7
.
[2
2
]
M.
D
eh
d
ar
i
n
e
j
ad
,
et
a
l
,
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p
t
i
m
i
zat
i
o
n
o
f
SMC
p
ar
am
et
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u
s
i
n
g
PS
O
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n
a
Fu
l
l
-
Bri
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g
e
D
C
-
D
C
c
o
n
v
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er
w
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t
h
i
n
d
u
c
t
i
v
e
l
o
a
d
,
”
2
0
1
3
I
E
E
E
In
t
e
r
n
a
t
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o
n
a
l
Co
n
f
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ce
o
n
S
m
a
r
t
E
n
e
r
g
y
G
r
i
d
E
n
g
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n
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n
g
(S
E
G
E
)
,
p
p
.
1
-
6
,
2
0
1
3
.
[2
3
]
E
.
H
.
Bi
n
u
g
ro
h
o
,
R.
S.
D
e
w
an
t
o
,
an
d
D
.
Pramad
i
h
an
t
o
,
“
eRO
V
:
Prel
i
mi
n
ary
D
es
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g
n
o
f
5
D
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RO
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g
6
T
h
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er
s
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n
fi
g
u
rat
i
o
n
,
”
2
0
1
8
In
t
e
r
n
a
t
i
o
n
a
l
E
l
ec
t
r
o
n
i
cs
S
y
m
p
o
s
i
u
m
o
n
E
n
g
i
n
ee
r
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n
g
Tech
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o
l
o
g
y
a
n
d
A
p
p
l
i
ca
t
i
o
n
s
(IE
S
-
E
TA
)
,
p
p
.
2
8
1
-
2
8
7
,
2
0
1
8
.
[2
4
]
Sl
o
t
i
n
e
J
J
E
,
L
i
W
.
“
A
p
p
l
i
ed
N
o
n
l
i
n
ear
Co
n
t
r
o
l
.
”
N
e
w
J
e
rs
ey
:
P
r
e
n
t
i
ce
,
v
o
l
.
1
9
9
,
n
o
.
1
,
1
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