Trajectory Planning and Tracking for Carrier Aircraft-Tractor System Based on Autonomous and Cooperative Movement

Figure 23

Tracking simulation results of transfer paths between recycling station and waiting station. (a) Changes of state variables. (b) Tracking errors of state variables. (c) Changes of control variables. (d) Changes of yaw angular velocity. (e) Changes of centroid skew angle.

(a)

(b)

(c)

(d)

(e)