541918.fig.006a
(a)
541918.fig.006b
(b)
541918.fig.006c
(c)
541918.fig.006d
(d)
Figure 6: Comparison between our control method and the control method proposed in [12]. (a), (b), (c) Tracking of , , and : control method proposed in [12] (dotted line), desired curve (dashed line), and our control method (solid line). (d) The control inputs: (dotted line), (dashed line), and (solid line).