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Fig 1.

The control logic structure diagram.

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Fig 2.

The tracking and error diagram of the x1.

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Fig 3.

The tracking and error diagram of the y1.

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Fig 3 Expand

Fig 4.

Tracking of roll angle and its error response diagram.

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Fig 5.

Control input u1.

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Fig 5 Expand

Fig 6.

Control input u2.

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Fig 6 Expand

Fig 7.

Trajectory tracking response diagram.

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Fig 7 Expand