Practical Position Tracking for 3D Unicycle Model

Figure 3

Control performance subject to different initial configurations. (a) The time profile of ‖e(t)‖. (b) The position trajectory of the 3D unicycle model. (c) The time profiles of θ(t) and φ(t). (d) The time profiles of the control inputs.

(a)

(b)

(c)

(d)