Figure 3
The figure is arranged as a 3 by 2 grid of line plots, each showing control input versus Time (seconds) from 0 to 10 seconds. In every subplot, three curves are compared: “control input in this paper” (blue solid line), “control input in open square bracket 18close square bracket ” (orange solid line), and “control input in open square bracket 29close square bracket ” (yellow solid line). In the top-left subplot, the vertical axis is labeled Position x control input (Newtons), with values ranging between approximately negative 20 and 25 Newtons. All curves start with higher amplitude oscillations around 20 newton that gradually decrease, transitioning into smaller sustained oscillations toward the end of the time interval. The top-right subplot is labeled Position y control input (Newtons). Values range from roughly negative 25 to 50 newtons. The curves show an initial large positive input around 50 newton that quickly decays into oscillatory behavior. The oscillations gradually diminish, with different amplitudes across the three methods. In the middle-left subplot, the vertical axis is Position z control input (Newtons). Values span from negative 125 to about 25 newton. The curves start with a sharp negative input around negative 30 newton for two methods and a sharp positive input for one method. All then converge into low-amplitude oscillations after the first few seconds. The middle-right subplot displays Angle roll control input (newton meter). Values range from negative 5 to 25 newton meters. One curve exhibits a distinct peak near 5 to 25 newton meter at around 1 s, while the others rise more modestly. All curves eventually converge toward zero with slight oscillations. The bottom-left subplot shows Angle pitch control input (newton meter), ranging from negative 5 to 30 newton meters. One curve rises sharply to a peak of around 30 newton meters before descending, while the other curves peak at lower values. All eventually settle toward zero with small-amplitude oscillations. The bottom-right subplot presents Angle yaw control input (newton meters). Values extend from negative 25 to 10 newton meters. One curve features an early negative dip before rising toward zero, while the other two curves rise directly from zero. All three converge into nearly constant, small values between 0 and 5 newton meters. Note: All numerical data values are approximated.Required control input for six degrees of freedom