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Reliable control of both trajectory and tether reeling is crucial.
A formation controller allowing both trajectory tracking and formation geometry keeping is then designed.
A fractional order PID FOPIDD) control is applied to improve both trajectory tracking and robustness.
The conformation and orientation changes were observed by both trajectory and quantitative analyses.
The proposed control law is universal for both trajectory tracking and point regulation, as the reference trajectories can be any one produced by bounded reference inputs.
The proposed double control loop architecture allows the vehicle to perform both trajectory and roll/pitch control when a rotor failure is present.
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Both trajectory-tracking and virtual velocity control of the AUV are achieved with guaranteed asymptotic stability.
Both trajectories are plotted in the figure above and, at this scale, show pretty good agreement.
However, for the outer heliosphere, we find that the Voyager 1 and 2 spacecraft observations cannot be fitted with an identical set of parameters along both trajectories.
Observe that both trajectories are automatically initiated and tracked.
The proton moves from a higher energy site to a lower site following both trajectories simultaneously.
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