L. Stratégie, est pas très satisfaisante car elle m` enè a la foisàfoisà une réalisation approximative de l'objectif de manipulation (voir les nombreux dépassements sur la Figure 4.20(b)), etàetà un important effort de commande sur la plate-forme, que l'on observe

. Enfin, même si les périodes d'immobilité de la plate-forme de type voiture ne sont pas aussi longues que dans la simulation précédente, la stratégie (d) produit encore un bon compromis entre un suivi fin de la cible et la minimisation des efforts de commande sur la plate-forme porteuse

?. ?pq, eq avec e m p?pq, ?pqq, eq, rq e m pq, rq Puisque q Þ ÝÑ e m pq, rq est un difféomorphisme local, l'´ egalité ?pq, ?pqq, eq q ¯ ?pq

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