I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
p
ute
r
E
ng
in
ee
ring
(
I
J
E
CE
)
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2021
,
p
p
.
33
6
~
34
6
I
SS
N:
2
0
8
8
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v
1
1
i
1
.
pp
3
3
6
-
346
336
J
o
ur
na
l ho
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ep
a
g
e
:
h
ttp
:
//ij
ec
e.
ia
esco
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co
m
Ro
bust ada
ptive c
o
ntroller for w
heel
m
o
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ile robo
t
w
ith
disturba
nces a
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w
heel slips
Ng
a
T
hi
-
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hu
y
V
u,
L
o
c
Xua
n O
ng
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Na
m
H
a
i Trin
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Sen
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ha
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Ha
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iv
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am
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d
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d
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a
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ry
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re
o
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e
r,
th
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p
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m
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re
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lex
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e
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s
y
f
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th
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i
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tatio
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.
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in
a
ll
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l
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s
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c
ti
v
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ss
o
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th
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ro
p
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se
d
sc
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e
m
e
.
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h
e
sim
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latio
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re
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lt
s
sh
o
w
th
a
t
th
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in
tr
o
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u
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o
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a
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a
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sire
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traje
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ted
a
n
d
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w
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rk
in
g
c
o
n
d
it
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is
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a
rd
.
K
ey
w
o
r
d
s
:
A
d
ap
tiv
e
co
n
tr
o
ller
Dis
t
u
r
b
an
ce
o
b
s
er
v
er
Stab
ilit
y
a
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al
y
s
i
s
W
h
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m
o
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ile
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b
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p
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T
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s
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o
p
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n
a
c
c
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ss
a
rticle
u
n
d
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r th
e
CC B
Y
-
SA
li
c
e
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se
.
C
o
r
r
e
s
p
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nd
ing
A
uth
o
r
:
Ng
a
T
h
i
-
T
h
u
y
V
u
,
Sch
o
o
l o
f
E
lectr
ical
E
n
g
i
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r
i
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g
,
Han
o
i U
n
iv
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s
it
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o
f
Scie
n
ce
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d
T
ec
h
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lo
g
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Han
o
i,
Viet
N
a
m
.
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m
ail:
n
g
a.
v
u
th
ith
u
y
@
h
u
s
t.e
d
u
.
v
n
1.
I
NT
RO
D
UCT
I
O
N
No
w
ad
a
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s
,
w
h
ee
led
m
o
b
ile
r
o
b
o
ts
(
W
MR)
ar
e
w
id
el
y
u
s
ed
in
m
a
n
y
f
ield
s
o
f
t
h
e
lif
e.
Mo
b
ile
r
o
b
o
ts
ar
e
s
elf
-
m
o
v
in
g
v
e
h
icle
s
an
d
ar
e
v
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s
atile
w
it
h
m
a
n
y
i
n
d
o
o
r
an
d
o
u
td
o
o
r
a
p
p
licatio
n
s
[
1
]
.
T
h
er
ef
o
r
e,
p
r
o
b
lem
s
o
f
w
h
ee
led
m
o
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ile
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b
o
t
ar
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ter
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to
p
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in
b
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th
s
cie
n
ti
f
ic
r
esear
ch
es
a
n
d
p
r
ac
tical
ap
p
licatio
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s
.
Ho
w
ev
er
,
t
h
e
c
o
n
tr
o
l
o
f
W
MR
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n
o
t
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b
ec
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e
t
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W
MR
is
a
n
u
n
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ac
tu
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te
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k
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n
g
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v
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m
e
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t
o
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W
MR
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ch
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ep
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d
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n
g
o
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th
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ap
p
licatio
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s
.
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f
f
er
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t
w
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k
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n
g
en
v
ir
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m
en
ts
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MR
w
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v
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d
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ty
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lip
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m
a
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u
c
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k
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tr
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th
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W
M
R
w
h
e
n
it
m
o
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s
in
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lar
p
ath
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an
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ter
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al
f
o
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ce
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ti
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g
o
n
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h
e
W
MR,
o
r
a
w
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k
f
r
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al
f
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ce
b
et
w
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n
th
e
s
lip
p
er
y
f
lo
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r
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d
th
e
w
h
ee
ls
.
So
th
e
co
n
tr
o
ller
s
w
it
h
th
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as
s
u
m
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tio
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“
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as
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h
e
s
lid
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n
g
m
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d
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co
n
tr
o
l
[
2
-
4
]
,
th
e
ad
ap
tiv
e
co
n
tr
o
l
[
5
-
9
]
o
r
th
e
b
ac
k
s
tep
p
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n
g
co
n
tr
o
l
[
1
0
]
ca
n
n
o
t
s
a
tis
f
y
th
e
r
eq
u
ir
e
m
e
n
t
s
o
n
th
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s
tab
ilit
y
as
w
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a
s
th
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tr
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k
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g
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s
y
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m
.
I
n
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,
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p
r
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b
lem
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o
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m
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n
p
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p
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ed
to
co
n
tr
o
l
th
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W
MR.
I
n
[
1
1
]
,
th
e
tr
ac
k
in
g
co
n
tr
o
ller
is
co
o
p
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ated
w
it
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d
is
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b
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s
o
b
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an
ad
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co
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w
i
th
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y
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m
u
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r
tai
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tie
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.
B
y
t
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,
th
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tr
ac
k
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n
g
er
r
o
r
an
d
th
e
ad
ap
tiv
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g
a
in
ar
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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R
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b
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I
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[
1
2
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µ
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m
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b
ased
r
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Du
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tain
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Ho
w
e
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t
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tab
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s
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lo
o
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ased
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o
f
w
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m
o
b
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p
r
esen
ted
in
[
1
3
]
is
u
s
ed
to
tr
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e
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to
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in
th
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p
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w
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p
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m
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ter
s
.
I
n
[
1
4
]
,
th
e
tr
a
j
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to
r
y
tr
ac
k
in
g
p
r
o
b
lem
f
o
r
W
MR
u
n
d
er
co
n
d
itio
n
s
o
f
s
y
s
te
m
u
n
c
er
tain
ties
a
n
d
ex
ter
n
al
d
is
t
u
r
b
an
ce
s
is
ad
d
r
ess
ed
.
B
y
u
s
in
g
a
f
u
zz
y
lo
g
ic
s
y
s
te
m
(
F
L
S)
to
ap
p
r
o
x
i
m
a
te
th
e
m
o
d
el
a
n
d
an
ad
ap
tiv
e
f
u
zz
y
o
b
s
er
v
er
to
esti
m
a
te
th
e
u
n
m
ea
s
u
r
ed
v
elo
cit
ies,
t
h
e
p
o
s
itio
n
er
r
o
r
s
ar
e
m
i
n
i
m
ized
an
d
th
e
r
e
s
p
o
n
s
e
o
f
th
e
s
y
s
te
m
is
f
a
s
t.
T
h
e
F
L
S
s
ar
e
also
u
s
ed
f
o
r
th
e
W
MR
s
y
s
te
m
s
in
o
t
h
er
s
r
esear
ch
e
s
[
1
5
-
18]
.
T
h
e
p
r
o
b
lem
s
o
f
w
h
ee
l
s
lip
s
ar
e
also
co
n
s
id
er
ed
b
y
m
a
n
y
r
esear
ch
er
s
.
T
o
elim
in
ate
th
e
co
m
p
lex
p
r
o
b
lem
s
in
t
h
e
tr
ad
itio
n
al
b
ac
k
s
tep
p
in
g
d
e
s
ig
n
,
a
co
n
tr
o
lle
r
b
ased
o
n
r
o
b
u
s
t
d
y
n
a
m
ic
s
u
r
f
ac
e
co
n
tr
o
l
(
DSC
)
is
b
u
ilt
f
o
r
th
e
W
MR
i
n
[
1
9
]
w
ith
p
r
ese
n
ce
o
f
s
k
id
d
i
n
g
an
d
s
l
ip
p
in
g
.
U
s
i
n
g
t
h
e
DSC
tec
h
n
iq
u
e
a
n
d
th
e
n
o
n
lin
ea
r
d
a
m
p
i
n
g
m
eth
o
d
,
th
e
ef
f
ec
t
o
f
th
e
u
n
ce
r
ta
in
tie
s
an
d
d
is
tu
r
b
an
ce
s
is
r
ed
u
ce
d
s
ig
n
if
ican
tl
y
.
T
h
e
n
eu
r
al
n
et
w
o
r
k
ad
ap
ti
v
e
co
n
tr
o
ller
b
ased
o
n
th
e
R
ei
n
f
o
r
ce
m
e
n
t
L
ea
r
n
in
g
m
et
h
o
d
is
s
h
o
w
n
i
n
[
20
]
to
tr
ac
k
t
h
e
d
esire
d
tr
aj
ec
to
r
y
f
o
r
th
e
W
M
R
w
i
th
s
lip
p
i
n
g
a
n
d
s
k
id
d
in
g
.
I
n
[
21
]
,
th
e
p
ar
ticle
s
w
ar
m
o
p
ti
m
izatio
n
(
P
SO
)
tech
n
iq
u
e
i
s
u
s
ed
to
t
u
n
e
th
e
g
ai
n
o
f
th
e
L
y
ap
u
n
o
v
b
ased
co
n
tr
o
ller
to
elim
in
ate
t
h
e
ef
f
ec
t
o
f
th
e
s
lip
s
.
Ho
w
e
v
er
,
th
e
r
ea
s
o
n
ab
ili
t
y
o
f
th
e
s
c
h
e
m
e
i
s
n
o
t
p
r
o
v
en
m
a
th
e
m
atica
ll
y
.
I
n
[
22
]
,
a
co
n
tr
o
l
s
ch
e
m
e
b
ased
o
n
s
lid
in
g
m
o
d
e
co
n
tr
o
l
an
d
a
b
ac
k
s
tep
p
in
g
o
b
s
er
v
er
is
b
u
ilt
f
o
r
th
e
W
MR
w
ith
u
n
k
n
o
w
n
s
lip
p
in
g
an
d
m
o
d
el
u
n
ce
r
tai
n
tie
s
.
T
h
e
alg
o
r
ith
m
ca
n
ce
ls
t
h
e
i
n
f
lu
e
n
ce
s
o
f
t
h
e
s
y
s
te
m
u
n
ce
r
tai
n
tie
s
,
th
e
d
is
tu
r
b
an
ce
s
,
an
d
th
e
c
h
atter
i
n
g
o
f
th
e
s
l
id
in
g
m
o
d
e
co
n
tr
o
l.
Ho
w
e
v
er
,
th
e
i
llu
s
tr
ated
r
esu
lts
ar
e
s
o
p
o
o
r
.
A
co
n
tr
o
l
tec
h
n
iq
u
e
w
h
ic
h
u
s
es
t
h
e
f
u
zz
y
P
I
D
co
n
tr
o
ller
co
m
b
i
n
in
g
w
it
h
t
h
e
cu
r
r
en
t
s
e
n
s
o
r
an
d
th
e
I
UM
s
en
s
o
r
is
in
tr
o
d
u
ce
d
in
[
23
]
to
r
ed
u
ce
th
e
ef
f
ec
ts
o
f
s
lip
p
in
g
ca
u
s
ed
b
y
e
n
v
ir
o
n
m
e
n
tal
f
ac
to
r
s
.
T
h
e
r
esu
lts
s
h
o
w
th
at
th
e
co
n
tr
o
ller
s
ch
e
m
e
h
as
t
h
e
g
o
o
d
ef
f
ec
ti
v
en
es
s
,
b
u
t
t
h
e
s
tab
ilit
y
o
f
t
h
e
s
y
s
te
m
is
n
o
t
m
e
n
tio
n
ed
.
A
d
is
tu
r
b
an
ce
o
b
s
er
v
er
b
ased
r
o
b
u
s
t
co
n
tr
o
ller
w
i
th
s
l
ip
p
in
g
a
n
d
s
k
id
d
i
n
g
co
n
s
id
er
in
g
is
s
h
o
w
n
i
n
[
24
]
.
Ho
w
e
v
er
,
th
e
tr
ac
k
i
n
g
er
r
o
r
in
th
is
al
g
o
r
ith
m
is
s
o
h
i
g
h
.
I
n
th
is
p
ap
er
,
an
ad
ap
tiv
e
al
g
o
r
ith
m
b
ased
o
n
th
e
d
is
t
u
r
b
an
ce
o
b
s
er
v
er
is
p
r
o
p
o
s
ed
f
o
r
th
e
W
R
M
w
it
h
co
n
s
id
er
in
g
s
y
s
te
m
u
n
c
er
tain
ties
,
e
x
ter
n
al
d
i
s
tu
r
b
an
c
es,
an
d
w
h
ee
l
s
lip
s
.
T
h
e
s
ch
e
m
e
in
c
lu
d
es
t
w
o
co
n
tr
o
l
lo
o
p
s
,
th
e
v
elo
cit
y
co
n
tr
o
l
lo
o
p
an
d
th
e
p
o
s
itio
n
co
n
tr
o
l
lo
o
p
.
T
h
e
u
n
ce
r
tai
n
ties
an
d
d
is
tu
r
b
an
ce
s
o
f
eac
h
lo
o
p
is
o
b
s
er
v
ed
a
n
d
f
ed
to
th
e
tr
ac
k
i
n
g
co
n
tr
o
ller
.
T
h
e
co
n
tr
ib
u
tio
n
o
f
t
h
e
p
r
esen
ted
s
ch
e
m
e
is
co
n
clu
s
ed
as th
e
f
o
llo
w
in
g
:
-
C
an
ce
l
t
h
e
ef
f
ec
t
o
f
th
e
w
h
ee
l
s
lip
s
an
d
in
p
u
t
d
is
t
u
r
b
an
ce
s
o
n
th
e
o
p
er
atio
n
o
f
th
e
s
y
s
e
m
b
y
t
h
e
o
b
s
er
v
er
s
an
d
ad
ap
tiv
e
co
n
tr
o
lle
r
s
.
-
T
h
e
s
tab
ilit
y
o
f
ea
ch
lo
o
p
s
as
w
ell
a
s
o
v
er
all
s
y
s
te
m
is
m
a
th
e
m
atica
ll
y
p
r
o
v
e
n
.
I
t
i
s
n
o
t
ed
th
at
p
r
o
v
i
n
g
th
e
s
tab
ilit
y
o
f
th
e
o
b
s
er
v
er
-
b
ased
ca
s
ca
d
e
co
n
tr
o
l
s
ch
e
m
e
w
h
ic
h
in
cl
u
d
es
m
o
r
e
th
a
n
o
n
e
o
b
s
er
v
er
an
d
o
n
e
co
n
tr
o
ller
is
m
u
c
h
m
o
r
e
d
if
f
icu
lt th
a
n
t
h
e
s
i
n
g
le
lo
o
p
s
y
s
te
m
.
-
I
n
co
m
p
ar
is
io
n
w
it
h
th
e
w
o
r
k
s
i
n
t
h
e
s
a
m
e
f
ield
,
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
is
q
u
ite
s
i
m
p
le,
s
o
it
is
ea
s
y
to
ex
ec
u
te.
-
T
h
e
s
i
m
u
latio
n
s
h
o
w
s
g
o
o
d
r
esu
lt
s
u
n
d
er
s
o
m
e
h
ar
s
h
c
o
n
d
itio
n
s
(
i.e
.
,
co
m
p
l
icate
d
t
r
aj
ec
to
r
y
,
i
n
p
u
t
d
is
tu
r
b
an
ce
s
,
an
d
w
h
ee
l
s
lip
s
)
.
2.
ADAP
T
I
VE
CO
N
T
RO
L
L
E
R
DE
S
I
G
N
F
O
R
NO
NL
I
NE
AR
M
I
S
M
AT
CH
E
D
DI
ST
U
RB
ANCES
2
.
1
.
Sy
s
t
em
m
o
dellin
g
C
o
n
s
id
er
th
e
W
MR
s
y
s
te
m
w
h
ic
h
i
n
clu
d
es
th
e
w
h
ee
l
s
li
p
s
p
h
en
o
m
en
a
a
s
s
h
o
w
n
in
t
h
e
Fi
g
u
r
e
1
.
I
n
th
e
Fi
g
u
r
e
1
,
th
e
m
ea
n
i
n
g
o
f
th
e
f
ac
to
r
s
is
a
s
th
e
f
o
llo
w
i
n
g
:
G
(
x
G
, y
G
)
th
e
m
a
s
s
ce
n
ter
o
f
t
h
e
p
latf
o
r
m
M (
x
M
, y
M
)
th
e
m
id
p
o
in
t o
f
t
h
e
w
h
ee
l
s
h
a
f
t
D
(
x
D,
y
D
)
th
e
d
esire
d
p
o
in
t
F
1
, F
2
th
e
to
tal
lo
n
g
it
u
d
in
al
f
r
ictio
n
f
o
r
ce
s
at
th
e
r
ig
h
t a
n
d
le
f
t
w
h
e
el,
r
esp
ec
tiv
el
y
F
3
th
e
to
tal
later
al
f
r
ict
io
n
f
o
r
ce
alo
n
g
t
h
e
w
h
ee
l s
h
af
t
F
4
, μ
ex
ter
n
al
f
o
r
ce
an
d
m
o
m
en
t a
ct
in
g
o
n
G,
r
esp
ec
tiv
el
y
γ
L
, γ
R
lo
n
g
it
u
d
i
n
al
s
lip
f
ac
to
r
s
o
f
t
h
e
lef
t
an
d
r
ig
h
t
d
r
iv
in
g
w
h
ee
ls
,
r
esp
ec
tiv
el
y
th
e
later
al
s
lip
f
ac
to
r
alo
n
g
t
h
e
w
h
ee
l s
h
a
f
t
a
th
e
d
is
ta
n
ce
b
et
w
ee
n
t
h
e
M
an
d
G
b
th
e
h
a
f
t o
f
t
h
e
w
h
ee
l s
h
a
f
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
1
:
336
-
346
338
θ
th
e
o
r
ien
tatio
n
o
f
t
h
e
W
MR
r
t
h
e
r
ad
iu
s
o
f
ea
ch
w
h
ee
l
e
p
1
,
e
p
2
p
o
s
itio
n
er
r
o
r
s
b
et
w
ee
n
t
h
e
p
o
in
ts
M
a
n
d
D
in
t
h
e
MX
Y
co
o
r
d
in
ate
T
h
e
k
in
e
m
atics
a
n
d
d
y
n
a
m
ics
m
o
d
el
o
f
th
e
W
MR
w
i
th
t
h
e
p
r
esen
ce
o
f
w
h
ee
l
s
lip
s
co
r
r
esp
o
n
d
in
g
w
it
h
co
o
r
d
in
ate
ill
u
s
tr
ated
in
t
h
e
Fi
g
u
r
e
1
ar
e
as th
e
f
o
llo
w
in
g
[
25
]:
c
os
si
n
si
n
c
os
M
M
x
y
(
1
)
d
M
v
B
v
Q
C
G
(
2
)
w
h
er
e
is
t
h
e
f
o
r
w
ar
d
v
elo
cit
y
an
d
i
s
th
e
a
n
g
u
lar
v
elo
cit
y
o
f
th
e
w
h
ee
l
m
o
b
ile
r
o
b
o
t a
t p
o
in
t M
.
an
d
ar
e
ca
lcu
lated
as:
,
2
2
2
2
RR
R
LL
L
R
L
rr
bb
in
w
h
ich
L
an
d
R
ar
e
th
e
an
g
u
lar
v
elo
cities o
f
t
h
e
le
f
t a
n
d
r
i
g
h
t
w
h
ee
l,
r
esp
ec
tiv
el
y
,
T
T
R
L
R
L
v
,
11
12
21
22
mm
M
mm
,
2
2
1
1
mm
,
2
1
1
2
mm
2
2
2
2
11
22
22
4
44
G
G
D
w
w
r
a
r
r
m
m
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I
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t J
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&
C
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p
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n
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I
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N:
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m
(
1
6
)
h
as t
h
e
f
o
llo
w
i
n
g
f
o
r
m
u
lat
io
n
:
1
1
1
1
()
v
v
d
d
d
e
M
B
e
M
v
M
B
v
M
Q
C
G
(
1
7
)
o
r
it c
an
b
e
s
h
o
r
ten
ed
as:
11
v
v
v
e
M
B
e
M
d
(
1
8
)
w
h
er
e
11
()
v
d
d
d
d
v
M
B
v
M
Q
C
G
is
t
h
e
u
n
k
n
o
w
n
co
m
p
o
n
en
t
w
h
ic
h
n
ee
d
to
b
e
esti
m
at
ed
.
T
h
e
er
r
o
r
d
y
n
a
m
ic
s
m
o
d
el
(
1
8
)
h
as
t
h
e
f
o
r
m
o
f
(
3
)
,
th
e
n
t
h
e
to
r
q
u
e
co
n
tr
o
ller
i
s
o
b
tain
ed
a
s
th
e
f
o
llo
w
i
n
g
:
1
ˆ
()
vv
B
M
C
e
M
d
(
1
9
)
W
h
er
e
1
11
1
1
1
ˆ
()
v
v
v
v
v
v
v
d
z
L
e
z
L
z
L
L
e
M
B
e
M
(
2
0
)
in
w
h
ich
L
1
an
d
C
1
ar
e
p
o
s
iti
v
e
s
ca
lar
s
.
2
.
3
.
2
.
K
ine
m
a
t
ic
co
ntr
o
ller
des
ig
n
I
n
th
e
MX
Y
co
o
r
d
in
ate,
th
e
p
o
s
itio
n
er
r
o
r
b
etw
ee
n
t
h
e
p
o
in
ts
M(
x
M
,
y
M
)
a
n
d
D(
x
D
,
y
D
)
is
a
s
th
e
f
o
llo
w
:
1
2
c
o
s
sin
sin
c
o
s
p
D
M
D
M
p
p
D
M
D
M
e
x
x
x
x
eT
e
y
y
y
y
(
2
1
)
w
h
er
e
T
is
t
h
e
tr
an
s
f
o
r
m
atio
n
m
atr
i
x
:
c
os
sin
sin
c
os
T
.
Der
iv
ati
v
e
o
f
(
2
1
)
alo
n
g
w
it
h
ti
m
e
u
n
d
er
th
e
co
n
d
itio
n
o
f
w
h
ee
l
s
s
l
ip
,
ex
ter
n
al
d
i
s
t
u
r
b
an
ce
s
i
s
o
b
tain
ed
as [
1
9
]
:
1
2
c
o
s
sin
sin
c
o
s
p
D
pp
p
D
e
x
e
h
v
d
e
y
(
2
2
)
w
h
er
e
22
11
11
22
,
22
pp
pp
ee
rr
bb
h
e
r
e
r
bb
2
1
22
2
R
L
R
L
p
p
RL
p
e
b
d
e
b
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
1
:
336
-
346
342
T
h
e
co
n
tr
o
ller
v
is
s
ep
ar
ated
in
to
t
w
o
p
ar
ts
v
1
an
d
v
2
w
h
er
e
v
1
is
th
e
f
ee
d
f
o
r
w
ar
d
p
ar
t
u
s
i
n
g
to
co
m
p
e
n
s
ate
t
h
e
n
o
n
li
n
ea
r
co
m
p
o
n
en
t in
t
h
e
m
o
d
el
(
2
2
)
,
v
2
is
th
e
f
ee
d
b
ac
k
co
n
tr
o
ller
.
12
v
v
v
(
2
3
)
1
1
c
os
sin
sin
c
os
D
D
x
vh
y
(
2
4
)
Su
b
s
ti
tu
t
in
g
(
2
3
)
an
d
(
2
4
)
in
to
(
2
2
)
lea
d
s
to
:
2
pp
e
h
v
d
(
2
5
)
Usi
n
g
co
n
tr
o
l sc
h
e
m
e
p
r
o
p
o
s
e
d
in
th
e
p
ar
t 2
,
th
e
co
n
tr
o
ller
v
2
h
as th
e
f
o
llo
w
i
n
g
f
o
r
m
:
11
22
ˆ
pp
v
h
C
e
h
d
(
2
6
)
w
h
er
e
2
2
2
2
2
ˆ
()
p
p
p
p
p
p
d
z
L
e
z
L
z
L
L
e
h
v
(
2
7
)
in
w
h
ich
C
2
an
d
L
2
ar
e
p
o
s
iti
v
e
s
ca
lar
s
.
I
t
is
n
o
ted
th
at
w
h
en
t
h
e
W
MR
tr
ac
k
s
t
h
e
d
esire
d
tr
aj
ec
to
r
y
,
t
h
e
er
r
o
r
s
e
p
1
an
d
e
p
2
g
o
to
ze
r
o
.
T
h
is
lead
in
g
to
2
1
d
e
t
(
)
0
2
p
r
he
b
an
d
h
is
n
o
t
in
v
er
tab
le
.
T
o
av
o
id
th
is
p
r
o
b
le
m
,
th
e
co
n
tr
o
ller
(
2
6
)
is
m
o
d
i
f
ied
as t
h
e
f
o
llo
w
i
n
g
:
11
21
2
21
ˆ
1
ˆ
()
p
p
p
p
p
p
h
C
e
h
d
if
e
v
C
e
d
if
e
(
2
8
)
w
h
er
e
is
a
s
m
all
e
n
o
u
g
h
s
ca
l
ar
.
2
.
4
.
O
v
er
a
ll sta
bil
it
y
T
h
e
s
tab
ilit
y
o
f
t
h
e
o
v
er
all
s
y
s
te
m
w
h
ich
in
c
lu
d
es
th
e
W
MR,
th
e
d
y
n
a
m
ic
co
n
tr
o
ller
,
t
h
e
k
i
n
e
m
atic
co
n
tr
o
ller
,
an
d
th
e
o
b
s
er
v
er
s
i
s
g
u
ar
an
teed
b
y
t
h
e
f
o
llo
w
i
n
g
th
eo
r
e
m
.
T
heo
r
em
2
:
A
s
s
u
m
in
g
t
h
at
t
h
e
d
y
n
a
m
ics
(
1
6
)
w
it
h
t
h
e
c
o
n
tr
o
ller
(
1
9
)
an
d
th
e
o
b
s
er
v
er
(
2
0
)
is
s
tab
le,
also
th
e
k
i
n
e
m
a
tics
(
2
2
)
w
i
th
t
h
e
co
n
tr
o
ller
(
2
3
)
an
d
th
e
o
b
s
er
v
er
(
2
7
)
is
s
tab
le.
T
h
en
th
e
p
o
s
itio
n
tr
ac
k
in
g
er
r
o
r
e
p
an
d
th
e
v
elo
c
it
y
er
r
o
r
e
v
ar
e
asy
m
p
to
ticall
y
co
n
v
er
g
e
n
t to
ze
r
o
as ti
m
e
g
o
e
s
to
in
f
in
i
t
y
.
P
r
o
o
f
:
C
h
o
o
s
in
g
th
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
1
1
1
1
2
2
2
2
T
T
T
T
p
p
v
v
d
p
d
p
d
v
d
v
V
e
e
e
e
e
e
e
e
(
2
9
)
w
h
er
e
ˆ
d
p
p
p
e
d
d
an
d
ˆ
d
v
v
v
e
d
d
ar
e
th
e
esti
m
atio
n
er
r
o
r
s
in
th
e
o
u
ter
an
d
i
n
n
er
lo
o
p
s
,
r
esp
ec
tiv
el
y
.
T
h
e
ti
m
e
d
er
iv
ati
v
e
o
f
(
2
9
)
is
o
b
tain
ed
as th
e
f
o
llo
w
i
n
g
:
T
T
T
T
p
p
v
v
d
p
d
p
d
v
d
v
V
e
e
e
e
e
e
e
e
(
3
0
)
Usi
n
g
(
6
)
,
(
1
8
)
,
(
1
9
)
(
2
5
)
an
d
(
2
6
)
,
th
e
(
3
0
)
is
r
ew
r
itte
n
as:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
R
o
b
u
s
t a
d
a
p
tive
co
n
tr
o
ller
fo
r
w
h
ee
l m
o
b
ile
r
o
b
o
t wi
th
…
(
N
g
a
Th
i
-
Th
u
y
V
u
)
343
2
1
2
1
2
2
1
1
2
1
1
2
(
)
(
)
(
)
(
)
(
)
(
)
(
1
)
(
1
)
(
1
)
(
1
)
T
T
T
T
p
p
d
p
v
v
d
v
d
p
d
p
d
v
d
v
T
T
T
T
T
T
p
p
p
d
p
d
p
d
p
v
v
v
d
v
d
v
d
v
T
T
T
T
T
T
p
p
p
d
p
d
p
d
p
v
v
v
d
v
d
v
d
v
T
T
T
p
p
v
v
d
p
d
p
V
e
C
e
e
e
C
e
e
e
L
e
e
L
e
e
C
e
e
e
e
L
e
e
C
e
e
e
e
L
e
e
e
e
e
e
e
e
e
e
e
e
e
C
e
e
C
e
e
L
e
e
L
e
T
d
v
d
v
e
I
t is ea
s
y
to
s
ee
t
h
at
0
V
o
r
e
p
,
e
v
,
e
dp
,
an
d
e
dv
ar
e
b
o
u
n
d
ed
if
C
1
,
C
2
,
L
1
,
an
d
L
2
ar
e
lar
g
er
t
h
a
n
o
n
e.
C
o
n
s
id
er
to
th
e
f
u
n
ctio
n
:
1
TT
p
p
v
v
V
V
V
e
e
e
e
dt
(
3
1
)
I
ts
f
ir
s
t a
n
d
s
ec
o
n
d
o
r
d
er
tim
e
d
er
iv
ativ
e
i
s
g
i
v
e
n
b
y
(
3
2
)
an
d
(
3
3
)
,
r
esp
ec
tiv
el
y
,
as t
h
e
f
o
llo
w
i
n
g
:
1
TT
p
p
v
v
V
e
e
e
e
(
3
2
)
1
2
1
(
)
(
)
T
T
T
T
p
p
v
v
p
p
d
p
v
v
d
v
V
e
e
e
e
e
C
e
e
e
C
e
e
(
3
3
)
Sin
ce
e
p
,
e
v
,
e
dp
,
an
d
e
dv
ar
e
b
o
u
n
d
ed
th
e
n
1
V
is
b
o
u
n
d
ed
.
Usi
n
g
B
ar
b
alat’
s
le
m
m
a
it
is
clea
r
l
y
to
s
ee
th
at
e
p
an
d
e
v
as
y
m
p
to
tica
ll
y
c
o
n
v
er
g
e
to
ze
r
o
as ti
m
e
g
o
es t
o
in
f
i
n
it
y
.
3.
CO
NT
RO
L
ST
R
AT
E
G
Y
V
E
RIF
I
CA
T
I
O
N
I
n
o
r
d
er
to
v
er
if
y
t
h
e
e
f
f
ec
t
iv
en
e
s
s
o
f
t
h
e
p
r
o
p
o
s
ed
s
ch
e
m
e,
t
w
o
s
i
m
u
la
tio
n
s
ar
e
e
x
ec
u
ted
b
y
Ma
tlab
/Si
m
u
l
in
k
f
o
r
th
e
h
ea
r
t
s
h
ap
e
an
d
t
h
e
o
v
al
s
h
ap
e.
I
n
b
o
th
ca
s
es,
it
i
s
as
s
u
m
ed
th
a
t
th
e
W
MR
o
p
er
ates
u
n
d
er
t
h
e
e
f
f
ec
t
o
f
p
ar
a
m
e
ter
u
n
ce
r
tain
ties
(
2
0
%
d
if
f
er
en
c
es
f
r
o
m
n
o
m
in
al
p
ar
a
m
eter
s
)
,
in
p
u
t
d
is
t
u
r
b
an
ce
s
1
s
i
n
(0
.
2
)
1
c
o
s
(0
.
2
)
d
tt
(
N.
m
)
,
a
n
d
th
e
s
l
ip
s
1
s
i
n
1
c
o
s
s
i
n
TT
RL
t
t
t
(
m
/
s
ec
)
.
A
l
s
o
,
th
e
s
a
m
e
s
i
m
u
latio
n
is
d
o
n
e
w
ith
t
h
e
s
c
h
e
m
e
w
h
ich
i
s
p
r
esen
ted
in
[
1
8
]
f
o
r
co
m
p
ar
is
o
n
.
T
h
e
p
ar
am
eter
s
o
f
th
e
W
MR
i
s
as
th
e
f
o
llo
w
i
n
g
:
m
G
=
1
0
k
g
,
m
W
=
2
k
g
,
I
G
=
4
k
g
m
2
,
I
W
=
0
.
1
k
g
m
2
,
I
D
=
0
.
0
5
k
g
m
2
,
a
=
0
.
2
m
,
b
=
0
.
3
m
,
r
=
0
.
1
5
m
.
T
h
e
co
n
tr
o
l p
ar
am
eter
s
ar
e
ch
o
s
en
a
s
:
C
1
=
C
2
=
2
,
L
1
=
2
0
0
,
L
2
=
3
0
0
.
C
ase
1
: T
h
e
r
ef
er
en
ce
tr
aj
ec
to
r
y
i
s
o
v
al
i
n
s
h
ap
e
w
ith
t
h
e
eq
u
atio
n
:
1s
c
o
s
in
,
D
D
ty
xt
(
3
4
)
T
h
e
in
itial
p
o
s
itio
n
s
o
f
t
h
e
r
o
b
o
t
ar
e
[
]
[
0
.7
1
.2
0
]
xy
.
T
h
e
s
i
m
u
l
at
io
n
r
es
u
lts
ar
e
s
h
o
w
n
in
Fig
u
r
es
3
a
n
d
4
.
T
h
o
r
o
u
g
h
l
y
,
th
e
F
ig
u
r
e
3
ill
u
s
tr
ate
s
t
h
e
r
ef
er
en
ce
tr
aj
ec
to
r
y
,
th
e
r
e
s
p
o
n
s
e
o
f
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
,
an
d
th
e
r
esp
o
n
s
e
o
f
th
e
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
m
et
h
o
d
.
I
t
ca
n
b
e
s
ee
n
f
r
o
m
t
h
e
Fig
u
r
e
3
th
at,
th
e
tr
ac
k
in
g
o
f
th
e
r
o
b
o
t
w
h
ic
h
i
s
co
n
tr
o
lled
b
y
t
h
e
p
r
o
p
o
s
ed
alg
o
r
it
h
m
i
s
b
etter
t
h
a
n
t
h
e
s
lid
in
g
m
o
d
e
o
n
e
.
T
h
is
d
if
f
er
en
ce
is
r
ef
lecte
d
o
n
F
ig
u
r
e
4
.
I
n
Fi
g
u
r
e
4
,
th
e
p
o
s
itio
n
er
r
o
r
s
o
f
th
e
t
w
o
co
n
tr
o
ller
s
c
h
e
m
es
ar
e
s
h
o
w
n
i
n
x
-
a
x
i
s
an
d
y
-
ax
is
.
O
n
e
m
o
r
e
ti
m
e,
it
is
ea
s
y
to
s
ee
th
at
t
h
e
p
o
s
itio
n
er
r
o
r
o
f
th
e
s
l
id
in
g
m
o
d
e
co
n
tr
o
l
is
q
u
ite
lar
g
e
(
ab
o
u
t 0
.
1
1
m
)
b
u
t in
t
h
e
ca
s
e
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
th
is
er
r
o
r
is
al
m
o
s
t
ze
r
o
.
C
ase
2
: T
h
e
r
ef
er
en
ce
tr
aj
ec
to
r
y
i
s
h
ea
r
t i
n
s
h
ap
e
w
ith
t
h
e
eq
u
at
io
n
:
3
2
3
1
2
s
i
n
4
s
i
n
.
1
3
c
o
s
5
c
o
s
2
c
o
s
c
o
s
)
2
0
2
0
2
0
2
0
2
0
2
0
,(
D
D
x
t
t
t
t
t
t
y
(
3
5
)
I
n
th
is
ca
s
e,
th
e
i
n
itial
p
o
s
iti
o
n
o
f
th
e
r
o
b
o
t
is
[
]
[
1
.
2
4
0
]
xy
.
T
h
e
r
ef
er
en
ce
tr
aj
ec
to
r
y
is
m
u
c
h
m
o
r
e
co
m
p
lica
ted
an
d
th
e
v
elo
cit
y
is
also
m
o
r
e
c
h
a
n
g
e.
Ho
w
ev
er
,
as
i
n
d
icate
d
i
n
Fi
g
u
r
es
5
a
n
d
6
,
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
s
ch
e
m
e
s
till
g
i
v
es
th
e
g
o
o
d
p
er
f
o
r
m
an
ce
s
w
i
th
s
m
all
tr
ac
k
i
n
g
er
r
o
r
(
alm
o
s
t
ze
r
o
)
i
n
b
o
th
p
o
s
itio
n
a
n
d
v
elo
cit
y
lo
o
p
s
.
Me
an
w
h
i
le,
th
e
p
o
s
i
tio
n
er
r
o
r
in
th
e
s
l
id
in
g
m
o
d
e
co
n
tr
o
l
is
ab
o
u
t
0
.
1
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8708
I
n
t J
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lec
&
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Vo
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11
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1
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r
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1
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344
T
h
e
r
esp
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s
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m
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o
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m
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b
u
t
th
e
m
a
x
i
m
u
m
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s
ci
llatio
n
a
m
p
lit
u
d
e
o
f
th
e
SM
C
m
eth
o
d
at
th
e
in
itial ti
m
e
is
d
o
u
b
le
t
h
at
o
f
th
e
p
r
o
p
o
s
ed
m
e
th
o
d
(
0
.
4
m
a
n
d
0
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2
m
)
.
T
h
e
n
u
m
er
ical
a
n
al
y
s
is
f
o
r
ab
o
v
e
r
es
u
lts
is
d
ep
icted
in
th
e
T
ab
le
1
.
Fro
m
t
h
e
ab
o
v
e
r
e
s
u
l
ts
it
ca
n
b
e
s
ee
n
th
at
t
h
e
p
r
o
p
o
s
ed
o
b
s
er
v
er
b
ased
ad
ap
tiv
e
co
n
tr
o
ller
s
c
h
e
m
e
g
iv
e
t
h
e
g
o
o
d
tr
ac
k
i
n
g
.
I
n
co
m
p
ar
is
o
n
w
i
t
h
th
e
SMC
,
t
h
e
p
r
esen
ted
alg
o
r
ith
m
g
i
v
es
t
h
e
p
er
f
o
r
m
a
n
ce
s
w
it
h
s
m
aller
tr
ac
k
i
n
g
er
r
o
r
an
d
o
s
cillatio
n
,
f
a
s
ter
r
esp
o
n
s
e
ev
e
n
th
o
u
g
h
t
h
e
r
ef
er
en
ce
tr
aj
ec
to
r
y
is
co
m
p
lica
t
ed
an
d
th
e
v
e
lo
cit
y
i
s
m
u
c
h
ch
a
n
g
e.
Fig
u
r
e
3
.
T
r
a
j
ec
to
r
y
tr
ac
k
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n
g
o
f
th
e
p
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p
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ed
co
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tr
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ller
an
d
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lid
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n
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m
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co
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(
SMC
)
(
a
)
(
b
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F
ig
u
r
e
4
.
T
r
ac
k
in
g
er
r
o
r
o
f
th
e
p
r
o
p
o
s
ed
(
a)
an
d
th
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s
lid
in
g
m
o
d
e
(
b
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co
n
tr
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ller
s
Fig
u
r
e
5
.
T
r
aj
ec
t
o
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tr
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th
e
p
r
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o
s
ed
co
n
tr
o
ller
an
d
th
e
SM
C
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s
T
ab
le
1
.
P
er
f
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in
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x
o
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ed
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in
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(
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(
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No
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4.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
er
an
ad
ap
tiv
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co
n
tr
o
ller
b
ased
o
n
th
e
d
is
t
u
r
b
an
ce
s
o
b
s
er
v
er
is
p
r
ese
n
ted
to
d
ea
l
w
it
h
th
e
p
r
o
b
lem
s
o
f
d
is
tu
r
b
an
ce
s
an
d
w
h
ee
l
s
lip
s
i
n
th
e
w
h
ee
l
m
o
b
ile
r
o
b
o
t.
T
h
e
co
n
tr
o
l
s
y
s
t
e
m
is
s
ep
ar
ated
in
to
t
w
o
lo
o
p
s
,
d
y
n
a
m
ic
lo
o
p
an
d
k
in
e
m
at
ic
lo
o
p
.
Fo
r
ea
ch
lo
o
p
,
th
e
u
n
k
n
o
w
n
co
m
p
o
n
e
n
t
is
e
s
ti
m
ated
t
h
r
o
u
g
h
a
n
o
b
s
er
v
er
.
T
h
en
,
th
i
s
v
al
u
e
is
f
ed
to
th
e
co
n
tr
o
ller
to
co
m
p
e
n
s
ate
th
e
ef
f
ec
t
o
f
t
h
e
d
is
tu
r
b
an
ce
s
.
I
n
t
h
is
p
ap
er
,
th
e
s
tab
ilit
y
o
f
t
h
e
o
v
er
all
s
y
s
te
m
w
h
ic
h
i
n
cl
u
d
es
t
w
o
co
n
tr
o
l
lo
o
p
s
a
s
w
el
l
as
t
h
e
co
n
v
er
g
en
ce
o
f
th
e
o
b
s
er
v
er
s
ar
e
m
at
h
e
m
atic
all
y
p
r
o
v
en
b
ased
o
n
L
y
ap
u
n
o
v
th
eo
r
y
a
n
d
B
r
ab
alat’
s
le
m
m
a
(
I
t
is
n
o
ted
th
a
t
th
e
s
tab
ilit
y
o
f
th
e
o
b
s
er
v
er
b
ased
co
n
tr
o
ller
p
r
o
v
en
f
o
r
o
n
e
lo
o
p
s
tr
u
ctu
r
e
is
m
o
r
e
ea
s
ier
th
an
t
h
e
t
w
o
lo
o
p
s
o
n
e)
.
M
o
r
eo
v
er
,
th
is
s
ch
e
m
e
d
o
es
n
o
t
n
ee
d
th
e
co
m
p
lex
ca
lcu
latio
n
s
o
it
is
ea
s
y
f
o
r
i
m
p
le
m
e
n
tatio
n
.
T
h
e
p
r
o
p
er
n
ess
o
f
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
i
s
v
er
i
f
ied
th
r
o
u
g
h
t
w
o
s
i
m
u
latio
n
s
.
I
n
ea
ch
s
i
m
u
lat
io
n
,
th
e
p
er
f
o
r
m
a
n
ce
s
o
f
t
h
e
p
r
esen
ted
ad
ap
tiv
e
co
n
tr
o
ller
ar
e
co
m
p
ar
ed
w
it
h
t
h
e
s
lid
i
n
g
m
o
d
e
co
n
tr
o
ller
.
T
h
e
s
i
m
u
latio
n
r
es
u
lt
s
s
h
o
w
t
h
at
t
h
e
ad
ap
ti
v
e
co
n
tr
o
ller
g
i
v
es
t
h
e
b
etter
r
esp
o
n
s
es
in
b
o
th
ca
s
e
s
,
i.e
.
s
m
a
ller
tr
ac
k
in
g
er
r
o
r
,
s
m
aller
o
s
cillat
io
n
,
an
d
f
as
t
r
esp
o
n
s
e
ev
e
n
t
h
at
th
e
tr
aj
ec
to
r
y
is
co
m
p
licate
d
an
d
th
e
v
elo
cit
y
i
s
m
u
c
h
c
h
a
n
g
e
.
RE
F
E
R
E
NC
E
S
[1
]
G
.
M
e
ste
r,
“
A
p
p
li
c
a
ti
o
n
o
f
m
o
b
il
e
ro
b
o
ts,”
7
t
h
i
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
F
o
o
d
S
c
ien
c
e
,
2
0
0
6
.
[2
]
S
.
A
.
T
c
h
e
n
d
e
rli
-
Ba
h
a
m
,
F
.
Ha
m
e
rlain
,
a
n
d
N.
S
a
a
d
ia,
“
A
d
a
p
ti
v
e
slid
in
g
m
o
d
e
f
o
r
t
h
e
c
o
n
tro
l
o
f
a
w
h
e
e
led
m
o
b
il
e
ro
b
o
t,
”
1
5
t
h
In
ter
n
a
ti
o
n
a
l
C
o
n
f
e
r
e
n
c
e
o
n
C
o
n
tr
o
l,
A
u
t
o
ma
ti
o
n
a
n
d
S
y
ste
ms
,
2
0
1
5
.
[3
]
Z.
Ca
o
,
Y.
Ni
u
,
“
F
i
n
it
e
-
ti
m
e
slid
i
n
g
m
o
d
e
c
o
n
tro
l
o
f
M
a
rk
o
v
ian
ju
m
p
s
y
ste
m
s
su
b
jec
t
to
a
c
tu
a
t
o
r
n
o
n
li
n
e
a
rit
ies
a
n
d
it
s a
p
p
li
c
a
ti
o
n
to
w
h
e
e
led
m
o
b
il
e
m
a
n
ip
u
lat
o
r,
”
J
o
u
r
n
a
l
o
f
th
e
Fr
a
n
k
li
n
In
sti
tu
te,
v
o
l.
3
5
5
,
p
p
.
7
8
6
5
-
7
8
9
4
,
2
0
1
8
.
[4
]
A
.
F
il
ip
e
sc
u
,
V
.
M
i
n
z
u
,
B.
Du
m
it
ra
s
c
u
,
A
.
F
il
ip
e
sc
u
,
E.
M
in
c
a
,
“
T
r
a
jec
to
r
y
-
trac
k
in
g
a
n
d
d
isc
re
te
-
ti
m
e
slid
in
g
-
m
o
d
e
c
o
n
tro
l
o
f
w
h
e
e
led
m
o
b
il
e
ro
b
o
ts,”
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fe
re
n
c
e
o
n
In
fo
rm
a
t
io
n
a
n
d
Au
t
o
ma
ti
o
n
,
2
0
1
1
.
[5
]
L
.
Din
g
,
S
.
L
i,
Y.
-
J.
L
iu
,
H.
Ga
o
,
C.
Ch
e
n
,
Z.
De
n
g
,
“
A
d
a
p
ti
v
e
n
e
u
ra
l
n
e
tw
o
rk
-
b
a
se
d
trac
k
in
g
c
o
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tro
l
f
o
r
f
u
ll
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sta
te
c
o
n
stra
in
e
d
w
h
e
e
led
m
o
b
il
e
ro
b
o
ti
c
sy
ste
m
,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
S
y
ste
ms
,
M
a
n
,
a
n
d
Cy
b
e
rn
e
ti
c
s:
S
y
ste
ms
,
v
o
l.
4
7
,
p
p
.
2
4
1
0
–
2
4
1
9
,
2
0
1
7
.
[6
]
K.
S
h
o
jae
i,
“
Ne
u
ra
l
a
d
a
p
ti
v
e
o
u
tp
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t
f
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d
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c
k
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n
c
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n
tr
o
l
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f
ty
p
e
(
m
,
s)
w
h
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e
led
m
o
b
il
e
ro
b
o
ts
,
”
IET
C
o
n
tr
o
l
T
h
e
o
ry
&
Ap
p
li
c
a
ti
o
n
s,
v
o
l.
1
1
,
p
p
.
5
0
4
-
5
1
5
,
2
0
1
7
.
[7
]
L
.
L
i,
e
t
a
l.
,
“
A
d
a
p
ti
v
e
tr
a
jec
to
r
y
trac
k
in
g
o
f
n
o
n
h
o
l
o
n
o
m
ic
m
o
b
il
e
ro
b
o
ts
u
sin
g
v
isio
n
-
b
a
se
d
p
o
siti
o
n
a
n
d
v
e
lo
c
it
y
e
sti
m
a
ti
o
n
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Cy
b
e
rn
e
ti
c
s,
v
o
l.
4
8
,
p
p
.
5
7
1
-
5
8
2
,
2
0
1
8
.
[8
]
Z.
P
e
n
g
,
S
.
Ya
n
g
,
G
.
W
e
n
,
A
.
Ra
h
m
a
n
i,
Y.
Yu
,
“
A
d
a
p
ti
v
e
d
istri
b
u
ted
f
o
rm
a
ti
o
n
c
o
n
tro
l
f
o
r
m
u
lt
ip
le
n
o
n
h
o
lo
n
o
m
ic
w
h
e
e
led
m
o
b
il
e
ro
b
o
ts,”
Ne
u
ro
c
o
mp
u
ti
n
g
,
v
o
l.
1
7
3
,
p
p
.
1
4
8
5
–
1
4
9
4
,
2
0
1
6
.
[
9
]
M
.
B
e
g
n
i
n
i
,
D
.
W
.
B
e
r
t
o
l
,
N
.
A
.
M
a
r
t
i
n
s
,
“
A
r
o
b
u
s
t
a
d
a
p
t
i
v
e
f
u
z
z
y
v
a
r
i
a
b
l
e
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c
t
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t
r
a
c
k
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n
g
c
o
n
t
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l
f
o
r
t
h
e
w
h
e
e
l
e
d
m
o
b
i
l
e
r
o
b
o
t
:
S
i
m
u
l
a
t
i
o
n
a
n
d
e
x
p
e
r
i
m
e
n
t
a
l
r
e
s
u
l
t
s
,
”
C
o
n
t
r
o
l
E
n
g
i
n
e
e
r
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n
g
P
r
a
c
t
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c
e
,
v
o
l
.
6
4
,
p
p
.
2
7
-
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3
,
2
0
1
7
.
[1
0
]
G
.
Ya
n
fe
n
g
,
Z.
Hu
a
,
Y.
Y
a
n
h
u
i,
“
Ba
c
k
-
S
tep
p
in
g
a
n
d
Ne
u
ra
l
Ne
t
wo
rk
Co
n
tro
l
o
f
a
M
o
b
il
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Ro
b
o
t
f
o
r
Cu
rv
e
d
Weld
S
e
a
m
T
ra
c
k
in
g
,
”
Pro
c
e
d
ia
En
g
in
e
e
rin
g
,
v
o
l.
1
5
,
p
p
.
3
8
-
4
4
,
2
0
1
1
.
[1
1
]
L
.
X
in
,
Q.
W
a
n
g
,
J.
S
h
e
,
Y.
Li
,
“
Ro
b
u
st
a
d
a
p
ti
v
e
trac
k
in
g
c
o
n
tro
l
o
f
w
h
e
e
led
m
o
b
il
e
ro
b
o
t
,
”
Ro
b
o
ti
c
s
a
n
d
Au
to
n
o
m
o
u
s
S
y
ste
ms
,
v
o
l.
7
8
,
p
p
.
3
6
-
4
8
,
2
0
1
6
.
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