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. Author manuscript; available in PMC: 2013 May 29.
Published in final edited form as: IEEE Trans Automat Contr. 2006;51(4):562–579. doi: 10.1109/TAC.2006.872837

Fig. 5.

Fig. 5

Left column: Evolution of the radius for the normal velocity evolution (dashed line) and the full velocity evolution (solid line). Middle column: Evolution of normal velocity (dashed line) and tangential velocity (solid line) for the full velocity approach. Right column: Evolution of normal velocity for the normal velocity evolution. (a) α0 = 0.1, β0 = 0, R0 = 100, γα = 0, γβ = 0. (b) α0 = 1, β0 = 0, R0 = 100, γα = 0, γβ = 0. (c) α0 = 1, β0 = 0, R0 = 100, γα = 0.1, γβ = 0.1.