Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs

Figure 3

Feasible (dotted) and D-feasible (dashed) regions. A trajectory such as the green one is feasible because (𝐹_𝑟(𝑡),𝜏_𝑟(𝑡)) lies on the dotted region but is not D-feasible because it lies outside the dashed region.