Practical Position Tracking for 3D Unicycle Model

Figure 6

Comparison of the control performance. (a) The time profile of ‖e(t)‖ by M-HPCT. (b) The time profile of ‖e(t)‖ by HPCT. (c) The time profiles of θ(t) and φ(t) by M-HPCT. (d) The time profiles of θ(t) and φ(t) by HPCT. (e) The position trajectory of the 3D unicycle model by M-HPCT. (f) The position trajectory of the 3D unicycle model by HPCT. (g) The time profiles of the control inputs by M-HPCT. (h) The time profiles of the control inputs by HPCT.

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