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T
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T
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)(,01 . -+ +*- (")2(" R ) ( ( ))*(& ' (")2(" R0 <

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Ω R
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     
u 0 0
Vi = R (δi )  v − p̃i 0
    + 0 
 C84DE
0 r r
!"# T
Vi = vxi vyi r Ri $ % !,&"++" 51-1( %,+1" ." % (*'" i "/)(,01" . -+ +*-

(")2(" Ri ) ( ( ))*(& ' (")2(" R0 ' #"-&(" ." % (*'" <
0 0 wi
p̃i =  0 0 −li  $ % 0 &(,#" -&,@+F01&(,G'" ." )(1)(*.',& !"#&*(,"% .'
−wi li 0
→
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"&  
cos (δi ) sin (δi ) 0
R (δi ) =  − sin (δi ) cos (δi ) 0  $ % 0 &(,#" ." (*& &,*- .' (")2(" Ri ." %
0 0 1
(*'" i ) ( ( ))*(& ' (")2(" R .' (*3*& 4
H*-# $   
1 0 0 u
Vi = R (δi )  0 1 0   v 
−wi li 1 r
I*'+ )*'!*-+ ,-+, "/)%,#,&"( %"+ &"(0"+ ." % 0 &(,#" B #*3,"--" Ji ∈ M3,3 (R)
&( .',+ -& %"+ ("% &,*-+ #,-10 &,G'"+ ." %6,-&"( #&,*- (*'"@+*%4 J"&&" 0 &(,#" "+& .1@
;-," ) ( % ("% &,*- $
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T
<

V = V1 V2 · · · VN
"& $
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J= J1 J 2 · · · J N
!" !#$%&"$ '
(
 
(
(
cos δi sin δi li sin δi − wi cos δi

 
 
J= − sin δi cos δi li cos δi + wi sin δi
 
 )*(+,-
0 0 1
 
 
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(
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Jxi RT (θ) ẋ = Rω

Jyi RT (θ) ẋ = 0
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 ẋ = R (θ) u
Mu̇ + C (u) u = JT Fc )*(++-
Iw ω̇i = τi − RFxi

4?&: 54 ;4$/%:& 3B%"&/$%& M ∈ M3,3 (R) '

 
M 0 0
M= 0 M 0 
0 0 Iz
54 ;4$/%:& 3&2 F!/:&2 3& A!/%!5%2 C ∈ M3,3 (R) '
 
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0 0 0
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T
T = τ1 · · · τN
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? r %3 V 6173 $%69%+3!>%.%73 5/ >!3%66% /7"#5/!$% 0% 5/+%3 %3 5/ >!3%66% 5!7-/!$%
517"!3#0!7/5% 0# $1213 @
? Tx %3 Ty 0-6!"7%73 5%6 0-+/5/"%6 /A!/5 %3 3$/76>%$6/5 B916!3!C >%$6 5;/>/73< 916!3!C
>%$6 5/ "/#+,%D 0% 5;/73%77% EF* 9/$ $/991$3 /# .!5!%# 0% 5;%66!%# /$$!G$% @
? ∆si %63 5/ 0!63/7+% -5-.%73/!$% 9/$+1#$#% 9%70/73 #7% 9-$!10% 0;-+,/73!5517=
7/"% Te < %55% %63 .%6#$-% 4 9/$3!$ 0;#7 +10%#$ @
? ∆θi +1$$%69170 4 5/ >/$!/3!17 -5-.%73/!$% 0% +/9 123%7#% 4 9/$3!$ 0% 5/ .%6#$%
0% >!3%66% /7"#5/!$% 0# "H$1.G3$%< 9/$ 5;%A9$%66!17 ) ∆θi = Te ri '
I7 713% Ui 5% >%+3%#$ 0;%73$-% .%6#$- B%7+1$% /99%5- J+1../70%JD )

∆si
Ui =
ri
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"H$1.G3$% ) 4 +,/:#% 71#>%55% .%6#$% 0% >!3%66% /7"#5/!$%< 17 +/5+#5% 5/ >/$!/3!17
0% +/9 %7 !73-"$/73 6#$ 5;!73%$>/55% 0% 3%.96 6-9/$/73 5;!763/73 i + 1 0% 5;!763/73 i
B+%3 !73%$>/55% %63 71$./5%.%73 -"/5 4 5/ 9-$!10% 0;-+,/73!55177/"% 0# "H$1.G3$%D'
L% .M.%< 5/ >/$!/3!17 0% 0!63/7+% 9/$+1#$#% 6%$/ +/5+#5-% 9/$ 0!8-$%7+% %73$% 5%
71.2$% 0;!.9#56!176 +1.93-%6 4 5;!763/73 i + 1 %3 +%5#! 4 5;!763/73 i B.#53!95!- 9/$
5% 9/6 0;!.9#56!17 9$-=-3/5177-D'
I7 123!%73 /51$6 5% .10G5% 0;->15#3!17 0# >-,!+#5% 4 3%.96 0!6+$%3 Xi+1 = f (Xi , Ui ) )

 xi+1 = xi + ∆si cos (θi + ∆θi /2) − ∆θi (Tx sin θi + Ty cos θi )
yi+1 = yi + ∆si sin (θi + ∆θi /2) + ∆θi (Tx cos θi − Ty sin θi )
θi+1 = θi + ∆θi

N/ 0!63/7+% -5-.%73/!$% ∆si -3/73 9/$+1#$#% %73$% i %3 i + 1< 17 $%./$:#%$/ :#%

91#$ 0;/>/73/"% 0;%A/+3!3#0%< 5/ 9$1O%+3!17 0% +%33% 0177-% / -3- C/!3% 91#$ #7 +/9
/33%!73 %73$% +%6 0%#A !763/736< 61!3 θi + ∆θi /2'
F#!6< 5/ 615#3!17 0% 7/>!"/3!17 EF* B xDGP S < yDGP S D %63 #3!5!6-% 51$6 0% 5;-3/9%
0;126%$>/3!17 91#$ $%+/5%$ 5%6 0%#A 9$%.!G$%6 +1.916/73%6 0# >%+3%#$ 0;-3/3' N;-:#/=
3!17 0% 61$3!% %63 017+ 5!7-/!$% )

xDGP S i
Yi = = HXi + Wi
yDGP S i
! "#$%&'() * +,-$.&/$'&,0 1 #$2') 3&')//)

1 0 0
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ds = n × pas
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-'.:3,)4)"'$ "'$," 0 "$ pas5 "($ 2 ,#3-,-" 2,=( % +",'.=," .)2-%(.3'9 +&3L F
ds = dsreel + e2 − e1
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'-%%" F
R∞ R0 Rp
E {b} = −∞ bf (b)db = −p b pb2 + p1 db + 0 b −bp2
+ 1
p
db
R p −b 1 R p −b 1
= − 0 b p2 + p db + 0 b p2 + p db = 0
@$ % ! ,. '#" +" b ! -$ F
R0 3 R p 3 b2
σb2 = E (b − E {b})2 = E {b2 } = −p pb2 + bp db + 0 −b
2
p2
+ p db
R p −b3 b2 h 4 i p 2
b3
2 0 p2 + p db = 2 −b = 2 −1 + 13 p2 = p6

= 4p2
+ 3p 4
0
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!"#$% &'&( )%*+!,- .% /$0121!3!,- .% 34%$$%#$ 0.05-,$!6#%
7% 1$#!, *4-,2*, /2+ "2#++!%*8 !3 +%$2 2//$09!5- /2$ #*% "2#++!%**% .4%+/-$2*:%
E {b} = 0 %, .% :0;2$!2*:% σb2 = p6 /0#$ 3% <3,$% .% =2352*'
2
4(2/'( 56'12710$8/(
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:% 6#! *4%+, /2+ ,0,23%5%*, %92:,% /#!+6#% 3% 1!2!+ *0* .-,%$5!*!+,% B!3 *% .-/%*.
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23-2,0!$% .% ;2$!2*:% (
σb2 = Sgyro
2
∆t
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+#$%+' I33% +%$2 2J#+,-% 2 /0+,%$!0$!8 52!+ 0* /%#, $2!+0**213%5%*, /$%*.$% /0#$
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.% $25%*%$ 32 52$:A% 23-2,0!$% .# "?$05@,$%8 +/-:!<-% S 0, 083 / h8 %* #*% ;2H
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p
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σb2 = S 2mod ∆t
$('8 ∆t !,%5*'3($!!' )' *'4/2 '5*3' i '* i+1 '* !' /$3$41*3' S mod 3+6!+ )' *'!!'
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Ui /!#2 #5 :3#%*;
Q5 !%5+$3%2$5* $# /3'4%'3 03)3' $#*0#3 )# /0%5* X̂i|i , Umesi 7 05 0:*%'5* >

Xi+1 = f (Xi , Ui ) ≈ f X̂i|i , Umesi + Fi Xi − X̂i|i + Jui (Ui − Umesi ) + Vi
Q* >
X̂i+1|i = f X̂i|i , Umesi
I,0R >
Xi+1 − X̂i+1|i = Fi Xi − X̂i|i + Jui (Ui − Umesi ) + Vi
S('8 >
∂f (X,U ) ∂f (X,U )
Fi = ∂X '* Jui = ∂U ;
X=X̂ i|i ,U =Ui X=X̂ i|i ,U =Ui
H$ 80($3%$58' )' !,'33'#3 )' /3+)%8*%05 '2* $!032 )055+' /$3 >
Pi+1|i = Fi Pi|i FiT + Jui PXi Jui

T
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i=1
N
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 τθ = τ


R i
i=1

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N
8>:9<
X
Iz ṙ = (−wi Fxi + li Fyi )
i=1
? 2!*-/* '% $! '6@"/-/+" ') &+)2$% τθ %- '%# 65)!-/+"# 89:A< %- 8>:9<0 "+)# +,-%B
"+"# =
ṙ = λτθ + Λθ ω̇ + Dθ Fy 8>:C<
!D%& = 1
λ = Iz ;
Λθ = IIzωR [· · · wi · · ·] ;
ω̇ = [· · · ω̇i · · ·]T ;
Dθ = I1z [· · · li · · ·] ;
Fy = [· · · Fyi · · ·]T .
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+4%2"4+0 #/ 47#)%! 5 θd )/ %!".! $#"/2 !/%"! − π2 !% π2 6)' ,"#'% ,#/%'/)!.!/% 4*!,
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.#&';2 θ̃d %!+ 6)! ?
d
θ̃d = θd + arctan @A9AB
d0
4*!, d0 )/ =4'/ 1#('%'3 &! "2=+4=! &! +<'/%!/('%2 &! +4 ,#""!,%'#/ &! +<!""!)" +4%2"4+!
d9
C#)" +4 .'(! !/ D)*"! &! +4 ,#..4/&!0 /#)( 1"#,2&#/( 5 )/ ,-4/=!.!/% 1"#*'8

(#'"! &! +4 *4"'4$+! &! ,#..4/&! !/ "!.1+4E4/% +! ,#)1+! =2/2"4+'(2 τθ 9 F +4 1+4,!0
/#)( '/%"#&)'(#/( cdθ 6)' "!1"2(!/%! +4 +#' &! ,#..4/&! 5 411+'6)!" !/ !/%"2! &)
(G(%H.! !% n (θ, r, ṙ) +4 3#/,%'#/ &!( '/,!"%'%)&!( ()" θ0 r !% ṙ &4/( +!( 26)4%'#/(
&G/4.'6)!(9 I#)( 4*#/( 4+#"( +4 "!+4%'#/ ()'*4/%! ?
ṙ = cdθ − n (θ, r, ṙ) @A9JB
4 +#' &! ,#..4/&! !(% ,-#'('! &! +4 3#".! ?
cdθ = r̃˙d + Kpθ εθ + Kdθ ε̇θ + σθ @A9KB
L++! ,#.1"!/& 6)4%"! %!".!( ?
M r̃˙d )/ %!".! 4/%','14%'30 &2"'*2! (!,#/&! &! θ̃d N
M εθ = θ̃d − θ +<!""!)" &! +<4/=+! &! +4,!% N
M Kpθ !% Kdθ &!)O ,#/(%4/%!( 1#('%'*!( 6)' 3#".!/% )/ "2=)+4%!)" 1"#1#"%'#//!+
!% &2"'*20 1!".!%%4/% &! &2;/'" +! %!.1( &! "21#/(! 5 5% !% +! &214((!.!/%
&) (G(%H.! !/ $#),+! 3!".2!0 +'/24'"! +#"(6)! +! %!".! &! =+'((!.!/% (<4//)+! N
M σθ +! %!".! &! =+'((!.!/% 6)' &#'% =4"4/%'" +4 "#$)(%!((!0 &#/% /#)( 4++#/( &28
%!".'/!" +<!O1"!(('#/9
!"!6!" 78+&.1$'0 (&'0 3*)09&2) (*:.&. ()0 ),,)+,0

P4+,)+#/( +4 &2"'*2! (!,#/&! &! εθ ?
ε̈θ = r̃˙d − ṙ
= r̃˙d − cdθ + n
@A9QB
r̃˙d − r̃˙d + Kpθ εθ + Kdθ ε̇θ + σθ + n

=
= −Kpθ εθ − Kdθ ε̇θ + (n − σθ )

εθ
C#(#/( +! *!,%!)" &<2%4% &!( !""!)"( ? x = ε̇ 9 R<#S +<26)4%'#/ &<2%4% ?
θ
ẋ = Ax + B (n − σθ ) @A9TB

0 1 0
4*!, ? A = −Kpθ −Kdθ ; B=
1
9
! "#$%&'() *+ ",--$./) %$( -,/)0 12&00$.'0
! σθ = 0 "#$!% &'()*+*,% n = 0- )$.#/01!) ,12 ( 3(# 41*..*0. 4* +$45)* 6 7$..!'*.8-

)* #2#%5+* *#% )!,&(!.* *% )*# 9()*0.# 4* Kpθ *% Kdθ #$,% 7:$!#!*# %*))*# /0* Kpθ = ωn2 *%
Kdθ = 2ξωn (;, 4* 4&;,!. 0, #2#%5+* 40 #*7$,4 $.4.*< ωn *#% )( 30)#(%!$, 3.$3.* *%
ξ )* =(7%*0. 41(+$.%!##*+*,%< >$0. )( 4&;,!%!$, 4* 9()*0.# ,0+&.!/0*#- !,%.$40!#$,#
)* %*+3# 4* .&3$,#* 6 5%- ,$%& Tr - *% 4&;,! 3(. !(..2 ?@ABAC %*) /0* D Tr = ξω 4,2
n
< >(.
)( #0!%*- ,$0# .5')*.$,# ξ *% Tr - 4*0E 3(.(+5%.*# /0! ;E*,% )*# 3*.=$.+(,7*# 4&#!.&*#
*, F$07)* =*.+&*<
*+3+4+5 6.$270) /) 2$ 0'$8&2&'9

G;, 41(F$.4*. )* 3.$F)5+* 4* )( #%(F!)!%& 40 #2#%5+* *, F$07)* =*.+&*- )( 3$0.H
#0!%* 4* )1(,')* 4* )(7*% 4&#!.& θ̃d 3*0% I%.* &%04!&* *, 0%!)!#(,% )( =$,7%!$, 7(,4!4(%*
4* J2(30,$9 V = xT P x- (9*7 P 0,* +(%.!7* #2+&%.!/0* 4&;,!* 3$#!%!9*< K1(3.5#
)* %:&$.5+* 4* J2(30,$9 ? (#%.2- @AAAC- )1&%(% x = 0 *#% #%(F)* #! *% #*0)*+*,% #! D
V (0) = 0 ; ∀x 6= 0 V (x) > 0 et V̇ (x) < 0 "L<A8
J*# 4*0E 3.*+!5.*# &/0(%!$,# &%(,% !++&4!(%*+*,% 9&.!;&*#- !) .*#%* 6 &%(F)!. )(

%.$!#!5+*< M 3(.%!. 4* )1&/0(%!$, "L<B8- $, 7()70)* )( 4&.!9&* D
V̇ (x) = ẋT P x + xT P ẋ
= xT AT + nB T − σθ B T P x

"L<@N8
+xT P (Ax + Bn − BσθT)
T T
= x A P + P A x + 2x P B (n − σθ )
J( 4*.,!5.* &'()!%& *#% $F%*,0* *, 7$,#!4&.(,% /0* s = B T P x *#% 0, #7()(!.*- 41$O

B T P x = xT P B < >0!#- )( +(%.!7* > *#% 7()70)&* (;, 41$F%*,!. )1&/0(%!$, "L<@@8
7!H(3.5# D
AT P + P A = −Ql "L<@@8
(9*7 Ql 0,* +(%.!7* #2+&%.!/0* 4&;,!* 3$#!%!9* P 71*#% )1&/0(%!$, 4* J2(30,$9< K(,#
7* 7(#- )1&/0(%!$, "L<@N8 4*9!*,% D
V̇ = −xT Ql x + 2xT P B (n − σθ )
Q) *#% ,&7*##(!.* /0* V̇ #$!% ,&'(%!9* 3$0. )* +(!,%!*, 4* )( #%(F!)!%&< J* 3.*+!*.

%*.+* 40 +*+F.* 4* 4.$!%* *#% ,&'(%!= *% )* #*7$,4 %*.+* #1(,,0)* #! x (33(.%!*,% (0
,$2(0 4* B T P < R$.# 40 ,$2(0- !) =(0% /0* )* #*7$,4 %*.+* #$!% )* 3)0# 3*%!% 3$##!F)*<
>$#$,# s = B T P x< J1&'()!%& s = 0 *#% )* 7(# ,0) !4&()< S1*#% )1&/0(%!$, 4* )1:23*.3)(,
4&;,!##(,% )( #0.=(7* 4* ')!##*+*,%< J* +(!,%!*, 4* )( #0.=(7* 4* ')!##*+*,% s 6 T&.$
*#% ()$.# &/0!9()*,% 6 )( 3$0.#0!%* 40 9*7%*0. 4*# &%(%# 4&#!.&#- )* 9*7%*0. 41&%(% 4*#
*..*0.# x #1(,,0)(,%< S*%%* #0.=(7* 3(##(,% 3(. )1$.!'!,*- )1*..*0. #%(%!/0* εθ #*.(
,0))*<
>.$3$#$,# )( )$! 4* 7$++(,4* 3(. +$4*# ')!##(,%# σθ D
s
σθ = µ "L<@U8
ksk
!"! #$%%&'() (*+' ,$-$. / ,$+)0 '$' (1,)2.1$'')33)0 45
! "# $ %&'"'() "* $ +,) )%-"'.')$$) .) s/ )& µ )(& %$ (-*"*'+) 0 ('&'12

3) -4 '5 - $.%'& 6 7
s2
s (n − σθ ) = sn − µ = sn − µ ksk ≤ ksk (knk − µ)
ksk
8 $-/ ")( - $.'&' $( .) - $9)+:)$-) ( $& 7 knk ≤ nM ax < ∞ )& %$ -4 '5 .) µ > nM ax
;%' :*+*$&'& ") +)(0)-& .)( 4<0 &4=()( .% &4> +=,) .) ?<*0%$ 92 @" +(/ "* (&*A'"'&>
.) "* " ' .) - ,,*$.) )(& :*+*$&') (' $ *. 0&) "* " ' .) - ,,*$.) BC2DEF2
G'$*"),)$&/ $ %&'"'() "* " ' .) - ,,*$.) 7

s
cdθ = r̃˙d + Kpθ εθ + Kdθ ε̇θ + µ BC2DHF
ksk
*9)- s = B T P x2
!"!6! 780$3+.1$' () 3*89+&.1$' () :;&<+'$=

I %+ "* +>( "%&' $ .) "#>;%*&' $ BC2DDF/ "* ,*&+'-) Ql )(& -4 '(') &)"") ;%) 7

a 0
Ql =
0 b
*9)- a > 0 )& b > 02
?* ,*&+'-) A >&*$& .>&)+,'$>)/ "* ,*&+'-) P )(& 7
a·ξ 2 ·Tr 2
! #
1,05·b 5·a·ξ 2 ·Tr a·Tr
+ +
P = ξ 2 ·Tr 21
a·ξ 2 ·Tr 2
16,8
b·Tr
35,28
a·ξ 2 ·Tr3 BC2DCF
35,28 16,8
+ 296,352
8>&)+,'$ $( "#'$J%)$-) .)( - ,0 (*$&)( .) Q2

3 ,,) $ %( "#*9 $( .>K$' 0+>->.),,)$&/ "* .+ '&) .) :"'((),)$& * 0 %+ >;%*&' $ 7
s = B T P x = p21 εθ + p22 ε̇θ
*9)- p21 )& p22 / .)%5 - ,0 (*$&)( .) "* ,*&+'-) P .>K$')/ 0 ('&'9) )& (<,>&+';%)
'$&)+9)$*$& .*$( "#)50+)((' $ .) "* 1 $-&' $ -*$.'.*&) .) ?<*0%$ 92
@% 9 '('$*:) .) "* .+ '&) .) :"'((),)$&/ $ 9>+'K) *" +( 7 s = p21 εθ + p22 ε̇θ = 02
3)&&) >;%*&' $ .'L>+)$&')"") .% 0+),')+ +.+) * 0 %+ ( "%&' $ 7
εθ (t) = εθ (τ ) exp [(−p21 /p22 ) (t − τ )]
*9)- εθ (τ ) %$) - $(&*$&) +>)"") ;%' .>0)$. .)( - $.'&' $( '$'&'*")( 6 "#'$(&*$& τ
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N
<&'>@?
X
M (u̇ − rv) = Fxi
i=1
A 2+$,!$ 0% 1+ 0;B.!,!-. 0# C-#21% τu %, 0%/ ;7#+,!-./ <='@? %, <&'>@?D .-#/ !/-1-./

18+CC;1;$+,!-. 1-."!,#0!.+1% )
N
<&'>E?
X
u̇ = γτu + Λu ω̇i + rv
i=1
+F%C ) 1
γ = MR
;
−Iω
Λu = MR
.
G% 3H3% 7#% 2$;C;0%33%.,D cu %/, 1+ 1-! 0% C-33+.0% %, m (u, u̇) 1+ I-.C,!-. 0%/
!.C%$,!,#0%/ /#$ u %, u̇ 0+./ 1%/ ;7#+,!-./ 0% 1+ 06.+3!7#% 0# /6/,53%' J-#/ +F-./
1%/ $%1+,!-./ /#!F+.,%/ )
u̇ = cu − m (u, u̇) <&'>(?
K+ 1-! 0% C-33+.0% %/, )
cu = u̇d + Kpu εu + σu <&'>L?
+F%C )
M u̇d #. ,%$3% +.,!C!2+,!I N
M εu = ud − u 18%$$%#$ %. F!,%//% N
M Kpu #.% C-./,+.,% 2-/!,!F% 2%$3%,,+., 0% 0;B.!$ 1% ,%32/ 0% $;2-./% : 5% 0#
/6/,53% %. O-#C1% I%$3;% N
M σu 1+ 1-! 0% C-33+.0% 2+$ 3-0%/ "1!//+.,/'
P-./!0;$+., 1+ I-.C,!-. C+.0!0+,% 0% K6+2#.-F V = 12 ε2u D !1 %/, !33;0!+, 7#% 1+
/,+O!1!,; 0# /6/,53% %/, "+$+.,!% 2+$ 1% CQ-!9 0% 1+ 1-! 0% C-33+.0% 2+$ 3-0%/
"1!//+.,/ σu = ρ kεε k D +F%C ρ #. /C+1+!$% 2-/!,!ID 0-., 1+ F+1%#$ %/, /#R/+33%.,
u
;1%F;% 0%F+., 1%/ !.C%$,!,#0%/ /#$ 1+ 06.+3!7#% 1-."!,#0!.+1% 0# /6/,53%'

u
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3,"0/(," ksk+ν
s
$" 26,'/2"/ '" *2%2-./%$ *,4(/(3 #$ 32(7)$ 82)$'% ν 2' #&",-("2/$'%9
:("2)$-$"/1 ," 2**)(;'$ )$4 0,'*)$4 4'(82"/4 < 0+20'"$ #$4 N %,'$4 =

1 R
τi =
N
τu − τθ
wi
>?9@AB
28$0 τu $/ τθ %$02)0')&4 *2% '" 0+2"5$-$"/ #$ 82%(27)$1 < *2%/(% #$ )C("8$%4$ #' -,#.)$
#D"2-(;'$ #' %,7,/ >&;'2/(,"4 >?9@EB $/ >?9FB #2"4 )$4;'$))$4 )$4 200&)&%2/(,"4 u̇ $/
θ̇ ,"/ &/& %$-*)20&$4 %$4*$0/(8$-$"/ *2% )$4 ),(4 #$ 0,--2"#$ >?9@GB $/ >?9@FBB =
! N
#
1 εu
>?9HIB
X
τu = u̇d + Kpu εu + ρ − Λu ω̇i − rv
γ kεu k + νu i=1
BT P x

1 ˙
τθ = r̃d + Kpθ εθ + Kdθ ε̇θ + µ T
λ kB P xk + νθ
−Λθ ω̇ − Dθ Fy ) >?9H@B
J,'% )C$4/(-2/(," #$ )2 82)$'% #$4 3,%0$4 )2/&%2)$4 Fy 1 )2 3,%-')$ -25(;'$ #$
J20$6K2 LHIIHM *$'/ N/%$ '/()(4&$ $" /$"2"/ 0,-*/$ #$ )C2"5)$ #$ 5)(44$-$"/9 O$*$"P
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/'%72/(," < %$6$/$% ;'( 4$%2 ("0)'$ #2"4 )$ 8$0/$'% #$4 ("0$%/(/'#$49
!" #$$%&'()&*+ , -+ .*/*) , .*-01

!#!4 5*16./7*+,) (, (,8*'+,,(1(,7 #9
R2 ),( #$ 0,--2"#$ $4/ /$4/&$ $" 4(-')2/(," 4'% '" %,7,/ -,7()$ < ;'2/%$
%,'$4 >N = 4B "," #(%$0/(,""$))$49 S,'4 $T$0/',"4 )$4 %&5)25$4 = Kpu = 400s−11
Kpθ = 700s−2 1 Kdθ = 10s−1 1 νu = 0, 10ms−1 1 νθ = 0, 101 a = 10 $/ b = 1 >a $/ b 4,"/
)$4 #$'U 0,"4/2"/$4 *,4(/(8$4 #&!"(442"/ )2 -2/%(0$ Ql 1 4,)'/(," #$ )C&;'2/(," #$ RD2P
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%,'$49 R2 4(-')2/(," 0,"4(4/$ < 4'(8%$ '" 0+$-(" $" 0,'#$9 V%,(4 4(-')2/(,"4 4,"/
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ρ = 10ms−2 $/ µ = 1000s−2 W $/ !"2)$-$"/ '"$ 28$0 ρ = 10ms−2 $/ µ = 400s−2 9
R2 *,4(/(," #' %,7,/ $4/ /%20&$ 4'% )2 !5'%$ ?9G $/ )C&8,)'/(," #$4 82%(27)$4 εθ $/ εu
$" 3,"0/(," #' /$-*4 $4/ 2Q0+&$ 4'% )2 !5'%$ ?9@I9 8$0 '"$ ),( #$ 0,--2"#$ *%,P
*,%/(,""$))$1 )$ 8&+(0')$ ,40())$ 2**%,U(-2/(8$-$"/ 2' 8,(4("25$ #' 0+$-(" < 4'(8%$
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#$ 0,--2"#$ *2% -,#$4 5)(442"/41 28$0 µ = 1000s−21 *$%-$/ '" -$())$'% 4'(8( #$
0+$-("9 X" ,74$%8$ 0$*$"#2"/ )C2**2%(/(," #C'" *+&",-."$ #$ %&/(0$"0$1 8(4(7)$ 4'%
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! "#$%&'() *+ ",--$./) %$( -,/)0 12&00$.'0
!"#$%&'%() *+,-(.! /0.!1$

2,&0''!,!)' l 1, 34m
/(%! 2w 0, 81m
301'!1$ h 0, 75m
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40""! 6!" $(1!" Mw 3kg
70-.!01 89:; <0$0,='$!" 61 $(-(' "%,1.>

?%@1$! 89A; <("%'%() B,C ?%@1$! 89D; <E('( 61 $(-(' "%F

,1.>
21, 9m9 GH) 6! $>61%$! .I!$$!1$ 6I>'0' "'0'%J1!K )(1" 0L()" #E(%"% 1)! L0.!1$ 6! ρ
>.!L>!K 0H) 6! 6())!$ 6I0L0)'0@! 6I%)'!)"%'> 01 '!$,! 6I!)'$>! 6! $(-1"'!""! 6! .0
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6! $>'%#!)#! !"' '$0#> &(1$ 1)! L0.!1$ 6! ρ = 400ms−29 O0 L0.!1$ 0-"(.1! 6! .I!$$!1$
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∆ω ≡ ∆F
Iω
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dΩm dΩr 1 dΩm
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dt dt K dt
#%.! 3
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4&.# "/ -/" &) + Iω #! .((*+./! ( 0! %5! 0& '/) "/ #%(( Iω = Ieq + Iω′ + Ir 6
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; )%5%! # +*'"/$ /- $ &0 $%0#.10 0 -.! ## + 3ms−1 " "%01 +8&0 $> (.0
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2
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uur = u r !" #$%&'(()&" *+!,,!-, ε ∈ R2 .), / ε= εu εθ *! 0120'!&"
#! 3*'((!4!&" !(" ,!#$%&' )'&(' /
Kgliss = K0gliss + A1 kuur k + A2 kεk + A3 kε̇k 567889
T
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PN
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LLT = Pi=1
N
5678D9
i=1 (Fnr,i + Fnl,i )

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PN
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m 567869
i=1 (lri + lli )
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δ = f (εlat , εang )
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h
cos3 εang
δ = arctan l (1−c(s)ε (c(s) (1 − c(s)εlat ) tan2 εang
)2 lat
c(s) cos εang
i :G>E<
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Vrr = Vc + rwr
Vrl = q Vc − rwl
Vf r = (Vc + rwr )2 + (lr)2 :G>O<
q
Vf l = (Vc − rwl )2 + (lr)2
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tan αr = hd



tan (δ + αf ) = h+l

d

 Vh = dr
Vh = Vr cos αr

&$*' H
r = d1 Vr cos αr

l
d
= tan (δ + αf ) − tan αr
&+$J H
tan (δ + αf ) − tan αr
r = Vr cos αr
l
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tan δ
rt = Vr !"#$
l
δ
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89:9;

Mu̇ + C(u)u = Gx fx + Gy fy
ẋ = R (θ) u
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T
Fxrl Fxrr
fx =  Fxf l Fxf r 
1 1 cos δf l cos δf r
Gx =  0 0 sin δf l sin δf r 
−wl wr lf sin δf l − wl cos δf l lf sin δf r + wr cos δf r
T
Fyrl Fyrr
fy =  Fyf l Fyf r 
0 0 − sin δf l − sin δf r
Gy =  1 1 cos δf l cos δf r 
−lr −lr lf cos δf l + wl sin δf l lf cos δf r − wr sin δf r
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l l l
tan δf l = d−wl
; tan δ = d
; tan δf r = d+wr
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→
C4!D 7
cotan δf l = cotan δ − wl
l
; cotan δf r = cotan δ + wr
l
89:K;
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N O"2#.%& /4.5$ 5 7 ∂F∂F = cos δi:
x
xi
N O"2#.%& /4.5$ F 7 ∂F∂F = sin δi:

y
xi
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Fxf l Fxf r Fxrl Fxrr
Fx + + + +
δf r ≤ δf ≤ δf l < 0 − −
δf = δf l = δf r = 0 = =
δf l ≥ δf ≥ δf r > 0 + +
Fy
δrl ≤ δr ≤ δrr < 0 − −
δrl = δr = δrr = 0 = =
δrr ≥ δr ≥ δrl > 0 + +
δf r < arctan( −wlf
r
) − −
−wr
δf r = arctan( lf ) − =
arctan( lf ) < δf ≤ δf ≤ δf l < arctan( wlfl )
−wr − +
δf l = arctan( wlfl ) = +
δf l > arctan( wlfl ) + +
Tz
δrl < arctan( −w
lr
l
) + +
−wl
δrl = arctan( lr ) = +
−wl
arctan( lr ) < δrl ≤ δr ≤ δrr < arctan( wlrr ) − +
δrr = arctan( wlrr ) − =
δrr > arctan( wlrr ) − −
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1/d = (tan δf − tan δr )/l ?@;AB
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Vr
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l
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-5&. %# 05..!0"25* '! %6!..!&. ε;
C#*( 0! 0#(9 %! :#2* kf l </.2I#*" Fxfs l = kf l ε # -5&. !L-.!((25* >

∀δf l 6= arctan wl
lf
; kf l = Iz /N (−wl cos (δf l ) + lf sin (δf l )) ?@;FFB
C! 1J1! -5&. %!( #&".!( .5&!( >

∀δf r 6= arctan −wr
lf
; kf r = Iz /N (wr cos (δf r ) + lf sin (δf r )) ?@;FNB

∀δrl 6= arctan −wl
lr
; krl = Iz /N (−wl cos (δrl ) − lr sin (δrl )) ?@;FOB

∀δrr 6= arctan wr
lr
; krr = Iz /N (wr cos (δrr ) − lr sin (δrr )) ?@;FEB
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&.%$( (%+"$)- #$( &$#!-+.)( ?
cotan δf l = cotan δf − wl
l
; cotan δf r = cotan δf + wr
l
678@7:
$-
cotan δrl = cotan δr + wl
l
; cotan δrr = cotan δr − wr
l
678@9:
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$"%&' Fxf
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dt R (s)
M Ft Fn
Ft
Fn

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Fn = −FXR sin β + FXF sin (δ − β) + FY R cos β + FY F cos (δ − β)
Ftmax
Fnmax
2 2
Ft Fn
+ ≤1
Ftmax Fnmax
Ftmax
Fnmax
Ft
2
Ftmax

Ft2 + Fn2 ≤ (Ftmax )2
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s 2
Ftmax

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