id	sid	tid	token	lemma	pos
fcis-14572	1	1	frontiers	frontier	NOUN
fcis-14572	1	2	in	in	ADP
fcis-14572	1	3	computing	computing	NOUN
fcis-14572	1	4	and	and	CCONJ
fcis-14572	1	5	intelligent	intelligent	ADJ
fcis-14572	1	6	systems	system	NOUN
fcis-14572	1	7	issn	issn	VERB
fcis-14572	1	8	:	:	PUNCT
fcis-14572	1	9	2832	2832	NUM
fcis-14572	1	10	-	-	SYM
fcis-14572	1	11	6024	6024	NUM
fcis-14572	1	12	|	|	NOUN
fcis-14572	1	13	vol	vol	NOUN
fcis-14572	1	14	.	.	PROPN
fcis-14572	2	1	6	6	NUM
fcis-14572	2	2	,	,	PUNCT
fcis-14572	2	3	no	no	INTJ
fcis-14572	2	4	.	.	NOUN
fcis-14572	2	5	1	1	NUM
fcis-14572	2	6	,	,	PUNCT
fcis-14572	2	7	2023	2023	NUM
fcis-14572	2	8	46	46	NUM
fcis-14572	2	9	trajectory	trajectory	NOUN
fcis-14572	2	10	tracking	tracking	NOUN
fcis-14572	2	11	control	control	NOUN
fcis-14572	2	12	algorithm	algorithm	NOUN
fcis-14572	2	13	of	of	ADP
fcis-14572	2	14	two‐wheel	two‐wheel	PRON
fcis-14572	2	15	rutting	rutting	NOUN
fcis-14572	2	16	model	model	PROPN
fcis-14572	2	17	yuanhong	yuanhong	PROPN
fcis-14572	2	18	dan	dan	PROPN
fcis-14572	2	19	,	,	PUNCT
fcis-14572	2	20	haiyang	haiyang	PROPN
fcis-14572	2	21	zhong	zhong	PROPN
fcis-14572	2	22	college	college	PROPN
fcis-14572	2	23	of	of	ADP
fcis-14572	2	24	computer	computer	NOUN
fcis-14572	2	25	science	science	NOUN
fcis-14572	2	26	and	and	CCONJ
fcis-14572	2	27	engineering	engineering	NOUN
fcis-14572	2	28	,	,	PUNCT
fcis-14572	2	29	chongqing	chongqing	PROPN
fcis-14572	2	30	university	university	PROPN
fcis-14572	2	31	of	of	ADP
fcis-14572	2	32	technology	technology	NOUN
fcis-14572	2	33	,	,	PUNCT
fcis-14572	2	34	chongqing	chongqing	PROPN
fcis-14572	2	35	,	,	PUNCT
fcis-14572	2	36	400054	400054	NUM
fcis-14572	2	37	,	,	PUNCT
fcis-14572	2	38	china	china	PROPN
fcis-14572	2	39	abstract	abstract	PROPN
fcis-14572	2	40	:	:	PUNCT
fcis-14572	2	41	in	in	ADP
fcis-14572	2	42	the	the	DET
fcis-14572	2	43	development	development	NOUN
fcis-14572	2	44	of	of	ADP
fcis-14572	2	45	unmanned	unmanned	ADJ
fcis-14572	2	46	two	two	NUM
fcis-14572	2	47	-	-	PUNCT
fcis-14572	2	48	wheeled	wheel	VERB
fcis-14572	2	49	self	self	NOUN
fcis-14572	2	50	-	-	PUNCT
fcis-14572	2	51	balancing	balance	VERB
fcis-14572	2	52	vehicle	vehicle	NOUN
fcis-14572	2	53	,	,	PUNCT
fcis-14572	2	54	it	it	PRON
fcis-14572	2	55	is	be	AUX
fcis-14572	2	56	very	very	ADV
fcis-14572	2	57	important	important	ADJ
fcis-14572	2	58	to	to	PART
fcis-14572	2	59	consider	consider	VERB
fcis-14572	2	60	the	the	DET
fcis-14572	2	61	trajectory	trajectory	NOUN
fcis-14572	2	62	tracking	tracking	NOUN
fcis-14572	2	63	of	of	ADP
fcis-14572	2	64	unmanned	unmanned	ADJ
fcis-14572	2	65	two	two	NUM
fcis-14572	2	66	-	-	PUNCT
fcis-14572	2	67	wheeled	wheel	VERB
fcis-14572	2	68	self	self	NOUN
fcis-14572	2	69	-	-	PUNCT
fcis-14572	2	70	balancing	balance	VERB
fcis-14572	2	71	vehicle	vehicle	NOUN
fcis-14572	2	72	.	.	PUNCT
fcis-14572	3	1	in	in	ADP
fcis-14572	3	2	order	order	NOUN
fcis-14572	3	3	to	to	PART
fcis-14572	3	4	study	study	VERB
fcis-14572	3	5	the	the	DET
fcis-14572	3	6	track	track	NOUN
fcis-14572	3	7	tracking	tracking	NOUN
fcis-14572	3	8	problem	problem	NOUN
fcis-14572	3	9	of	of	ADP
fcis-14572	3	10	unmanned	unmanned	ADJ
fcis-14572	3	11	twowheeled	twowheele	VERB
fcis-14572	3	12	self	self	NOUN
fcis-14572	3	13	-	-	PUNCT
fcis-14572	3	14	balancing	balance	VERB
fcis-14572	3	15	vehicle	vehicle	NOUN
fcis-14572	3	16	,	,	PUNCT
fcis-14572	3	17	the	the	DET
fcis-14572	3	18	kinematic	kinematic	ADJ
fcis-14572	3	19	model	model	NOUN
fcis-14572	3	20	of	of	ADP
fcis-14572	3	21	unmanned	unmanned	ADJ
fcis-14572	3	22	two	two	NUM
fcis-14572	3	23	-	-	PUNCT
fcis-14572	3	24	wheeled	wheel	VERB
fcis-14572	3	25	vehicle	vehicle	NOUN
fcis-14572	3	26	and	and	CCONJ
fcis-14572	3	27	the	the	DET
fcis-14572	3	28	relation	relation	NOUN
fcis-14572	3	29	between	between	ADP
fcis-14572	3	30	its	its	PRON
fcis-14572	3	31	roll	roll	NOUN
fcis-14572	3	32	angle	angle	NOUN
fcis-14572	3	33	and	and	CCONJ
fcis-14572	3	34	the	the	DET
fcis-14572	3	35	kinematic	kinematic	ADJ
fcis-14572	3	36	model	model	NOUN
fcis-14572	3	37	were	be	AUX
fcis-14572	3	38	established	establish	VERB
fcis-14572	3	39	.	.	PUNCT
fcis-14572	4	1	the	the	DET
fcis-14572	4	2	simulation	simulation	NOUN
fcis-14572	4	3	platform	platform	NOUN
fcis-14572	4	4	is	be	AUX
fcis-14572	4	5	built	build	VERB
fcis-14572	4	6	to	to	PART
fcis-14572	4	7	realize	realize	VERB
fcis-14572	4	8	the	the	DET
fcis-14572	4	9	unmanned	unmanned	ADJ
fcis-14572	4	10	two	two	NUM
fcis-14572	4	11	-	-	PUNCT
fcis-14572	4	12	wheeled	wheel	VERB
fcis-14572	4	13	vehicle	vehicle	NOUN
fcis-14572	4	14	and	and	CCONJ
fcis-14572	4	15	realize	realize	VERB
fcis-14572	4	16	the	the	DET
fcis-14572	4	17	circular	circular	ADJ
fcis-14572	4	18	track	track	NOUN
fcis-14572	4	19	tracking	tracking	NOUN
fcis-14572	4	20	at	at	ADP
fcis-14572	4	21	5	5	NUM
fcis-14572	4	22	m/s	m/s	PROPN
fcis-14572	4	23	,	,	PUNCT
fcis-14572	4	24	and	and	CCONJ
fcis-14572	4	25	the	the	DET
fcis-14572	4	26	tracking	tracking	NOUN
fcis-14572	4	27	performance	performance	NOUN
fcis-14572	4	28	of	of	ADP
fcis-14572	4	29	the	the	DET
fcis-14572	4	30	track	track	NOUN
fcis-14572	4	31	tracking	track	VERB
fcis-14572	4	32	controller	controller	NOUN
fcis-14572	4	33	under	under	ADP
fcis-14572	4	34	the	the	DET
fcis-14572	4	35	circular	circular	ADJ
fcis-14572	4	36	track	track	NOUN
fcis-14572	4	37	is	be	AUX
fcis-14572	4	38	verified	verify	VERB
fcis-14572	4	39	.	.	PUNCT
fcis-14572	5	1	keywords	keyword	NOUN
fcis-14572	5	2	:	:	PUNCT
fcis-14572	5	3	unmanned	unmanned	ADJ
fcis-14572	5	4	two	two	NUM
fcis-14572	5	5	-	-	PUNCT
fcis-14572	5	6	wheeled	wheel	VERB
fcis-14572	5	7	vehicle	vehicle	NOUN
fcis-14572	5	8	;	;	PUNCT
fcis-14572	5	9	trajectory	trajectory	NOUN
fcis-14572	5	10	tracking	tracking	NOUN
fcis-14572	5	11	control	control	NOUN
fcis-14572	5	12	;	;	PUNCT
fcis-14572	5	13	model	model	NOUN
fcis-14572	5	14	predictive	predictive	PROPN
fcis-14572	5	15	control	control	PROPN
fcis-14572	5	16	;	;	PUNCT
fcis-14572	5	17	kinematic	kinematic	ADJ
fcis-14572	5	18	model	model	NOUN
fcis-14572	5	19	.	.	PUNCT
fcis-14572	6	1	1	1	X
fcis-14572	6	2	.	.	X
fcis-14572	6	3	introduction	introduction	NOUN
fcis-14572	6	4	with	with	ADP
fcis-14572	6	5	the	the	DET
fcis-14572	6	6	continuous	continuous	ADJ
fcis-14572	6	7	improvement	improvement	NOUN
fcis-14572	6	8	of	of	ADP
fcis-14572	6	9	the	the	DET
fcis-14572	6	10	intelligent	intelligent	ADJ
fcis-14572	6	11	demand	demand	NOUN
fcis-14572	6	12	for	for	ADP
fcis-14572	6	13	vehicles	vehicle	NOUN
fcis-14572	6	14	and	and	CCONJ
fcis-14572	6	15	the	the	DET
fcis-14572	6	16	continuous	continuous	ADJ
fcis-14572	6	17	improvement	improvement	NOUN
fcis-14572	6	18	of	of	ADP
fcis-14572	6	19	autonomous	autonomous	ADJ
fcis-14572	6	20	technology	technology	NOUN
fcis-14572	6	21	,	,	PUNCT
fcis-14572	6	22	researchers	researcher	NOUN
fcis-14572	6	23	have	have	AUX
fcis-14572	6	24	also	also	ADV
fcis-14572	6	25	begun	begin	VERB
fcis-14572	6	26	to	to	PART
fcis-14572	6	27	pay	pay	VERB
fcis-14572	6	28	attention	attention	NOUN
fcis-14572	6	29	to	to	ADP
fcis-14572	6	30	the	the	DET
fcis-14572	6	31	autonomous	autonomous	ADJ
fcis-14572	6	32	driving	driving	NOUN
fcis-14572	6	33	problem	problem	NOUN
fcis-14572	6	34	of	of	ADP
fcis-14572	6	35	unmanned	unmanned	ADJ
fcis-14572	6	36	vehicles	vehicle	NOUN
fcis-14572	6	37	.	.	PUNCT
fcis-14572	7	1	unmanned	unmanned	ADJ
fcis-14572	7	2	two	two	NUM
fcis-14572	7	3	-	-	PUNCT
fcis-14572	7	4	wheelers	wheeler	NOUN
fcis-14572	7	5	have	have	VERB
fcis-14572	7	6	only	only	ADV
fcis-14572	7	7	one	one	NUM
fcis-14572	7	8	rut	rut	NOUN
fcis-14572	7	9	and	and	CCONJ
fcis-14572	7	10	can	can	AUX
fcis-14572	7	11	show	show	VERB
fcis-14572	7	12	good	good	ADJ
fcis-14572	7	13	maneuvering	maneuvering	NOUN
fcis-14572	7	14	performance	performance	NOUN
fcis-14572	7	15	under	under	ADP
fcis-14572	7	16	narrow	narrow	ADJ
fcis-14572	7	17	conditions	condition	NOUN
fcis-14572	7	18	.	.	PUNCT
fcis-14572	8	1	however	however	ADV
fcis-14572	8	2	,	,	PUNCT
fcis-14572	8	3	unmanned	unmanned	ADJ
fcis-14572	8	4	two	two	NUM
fcis-14572	8	5	-	-	PUNCT
fcis-14572	8	6	wheelers	wheeler	NOUN
fcis-14572	8	7	are	be	AUX
fcis-14572	8	8	a	a	DET
fcis-14572	8	9	complex	complex	ADJ
fcis-14572	8	10	nonlinear	nonlinear	NOUN
fcis-14572	8	11	,	,	PUNCT
fcis-14572	8	12	strongly	strongly	ADV
fcis-14572	8	13	coupled	couple	VERB
fcis-14572	8	14	and	and	CCONJ
fcis-14572	8	15	multi	multi	ADJ
fcis-14572	8	16	-	-	ADJ
fcis-14572	8	17	variable	variable	ADJ
fcis-14572	8	18	natural	natural	ADJ
fcis-14572	8	19	unstable	unstable	ADJ
fcis-14572	8	20	system	system	NOUN
fcis-14572	8	21	,	,	PUNCT
fcis-14572	8	22	so	so	CCONJ
fcis-14572	8	23	there	there	PRON
fcis-14572	8	24	are	be	VERB
fcis-14572	8	25	few	few	ADJ
fcis-14572	8	26	studies	study	NOUN
fcis-14572	8	27	on	on	ADP
fcis-14572	8	28	the	the	DET
fcis-14572	8	29	trajectory	trajectory	NOUN
fcis-14572	8	30	tracking	tracking	NOUN
fcis-14572	8	31	control	control	NOUN
fcis-14572	8	32	of	of	ADP
fcis-14572	8	33	unmanned	unmanned	ADJ
fcis-14572	8	34	two	two	NUM
fcis-14572	8	35	-	-	PUNCT
fcis-14572	8	36	wheelers	wheeler	NOUN
fcis-14572	8	37	.	.	PUNCT
fcis-14572	9	1	in	in	ADP
fcis-14572	9	2	2021	2021	NUM
fcis-14572	9	3	,	,	PUNCT
fcis-14572	9	4	singh	singh	NOUN
fcis-14572	9	5	,	,	PUNCT
fcis-14572	9	6	r	r	X
fcis-14572	10	1	[	[	X
fcis-14572	10	2	1	1	NUM
fcis-14572	10	3	]	]	PUNCT
fcis-14572	10	4	,	,	PUNCT
fcis-14572	10	5	a	a	DET
fcis-14572	10	6	foreign	foreign	ADJ
fcis-14572	10	7	scholar	scholar	NOUN
fcis-14572	10	8	,	,	PUNCT
fcis-14572	10	9	optimized	optimize	VERB
fcis-14572	10	10	the	the	DET
fcis-14572	10	11	steady	steady	ADJ
fcis-14572	10	12	-	-	PUNCT
fcis-14572	10	13	state	state	NOUN
fcis-14572	10	14	deviation	deviation	NOUN
fcis-14572	10	15	and	and	CCONJ
fcis-14572	10	16	transient	transient	ADJ
fcis-14572	10	17	response	response	NOUN
fcis-14572	10	18	by	by	ADP
fcis-14572	10	19	optimizing	optimize	VERB
fcis-14572	10	20	the	the	DET
fcis-14572	10	21	proportional	proportional	ADJ
fcis-14572	10	22	,	,	PUNCT
fcis-14572	10	23	integral	integral	ADJ
fcis-14572	10	24	and	and	CCONJ
fcis-14572	10	25	differential	differential	ADJ
fcis-14572	10	26	controllers	controller	NOUN
fcis-14572	10	27	(	(	PUNCT
fcis-14572	10	28	pid	pid	NOUN
fcis-14572	10	29	)	)	PUNCT
fcis-14572	10	30	,	,	PUNCT
fcis-14572	10	31	thereby	thereby	ADV
fcis-14572	10	32	improving	improve	VERB
fcis-14572	10	33	the	the	DET
fcis-14572	10	34	stability	stability	NOUN
fcis-14572	10	35	of	of	ADP
fcis-14572	10	36	the	the	DET
fcis-14572	10	37	system	system	NOUN
fcis-14572	10	38	and	and	CCONJ
fcis-14572	10	39	adjusting	adjust	VERB
fcis-14572	10	40	the	the	DET
fcis-14572	10	41	balance	balance	NOUN
fcis-14572	10	42	of	of	ADP
fcis-14572	10	43	the	the	DET
fcis-14572	10	44	vehicle	vehicle	NOUN
fcis-14572	10	45	.	.	PUNCT
fcis-14572	11	1	domestic	domestic	ADJ
fcis-14572	11	2	scholars	scholar	NOUN
fcis-14572	11	3	have	have	AUX
fcis-14572	11	4	also	also	ADV
fcis-14572	11	5	done	do	VERB
fcis-14572	11	6	a	a	DET
fcis-14572	11	7	lot	lot	NOUN
fcis-14572	11	8	of	of	ADP
fcis-14572	11	9	research	research	NOUN
fcis-14572	11	10	on	on	ADP
fcis-14572	11	11	unmanned	unmanned	ADJ
fcis-14572	11	12	two	two	NUM
fcis-14572	11	13	-	-	PUNCT
fcis-14572	11	14	wheeler	wheeler	NOUN
fcis-14572	11	15	trajectory	trajectory	NOUN
fcis-14572	11	16	tracking	tracking	NOUN
fcis-14572	11	17	.	.	PUNCT
fcis-14572	12	1	cui	cui	PROPN
fcis-14572	12	2	leilei[2	leilei[2	NOUN
fcis-14572	12	3	]	]	PUNCT
fcis-14572	12	4	established	establish	VERB
fcis-14572	12	5	a	a	DET
fcis-14572	12	6	nonlinear	nonlinear	ADJ
fcis-14572	12	7	dynamics	dynamic	NOUN
fcis-14572	12	8	model	model	NOUN
fcis-14572	12	9	for	for	ADP
fcis-14572	12	10	autonomous	autonomous	ADJ
fcis-14572	12	11	bicycles	bicycle	NOUN
fcis-14572	12	12	in	in	ADP
fcis-14572	12	13	2022	2022	NUM
fcis-14572	12	14	,	,	PUNCT
fcis-14572	12	15	and	and	CCONJ
fcis-14572	12	16	then	then	ADV
fcis-14572	12	17	divided	divide	VERB
fcis-14572	12	18	it	it	PRON
fcis-14572	12	19	into	into	ADP
fcis-14572	12	20	two	two	NUM
fcis-14572	12	21	related	relate	VERB
fcis-14572	12	22	subsystems	subsystem	NOUN
fcis-14572	12	23	:	:	PUNCT
fcis-14572	12	24	tracking	tracking	NOUN
fcis-14572	12	25	and	and	CCONJ
fcis-14572	12	26	equalization	equalization	NOUN
fcis-14572	12	27	.	.	PUNCT
fcis-14572	13	1	in	in	ADP
fcis-14572	13	2	the	the	DET
fcis-14572	13	3	tracking	tracking	NOUN
fcis-14572	13	4	system	system	NOUN
fcis-14572	13	5	,	,	PUNCT
fcis-14572	13	6	the	the	DET
fcis-14572	13	7	tractive	tractive	ADJ
fcis-14572	13	8	force	force	NOUN
fcis-14572	13	9	of	of	ADP
fcis-14572	13	10	the	the	DET
fcis-14572	13	11	bicycle	bicycle	NOUN
fcis-14572	13	12	is	be	AUX
fcis-14572	13	13	calculated	calculate	VERB
fcis-14572	13	14	by	by	ADP
fcis-14572	13	15	the	the	DET
fcis-14572	13	16	reverse	reverse	ADJ
fcis-14572	13	17	method	method	NOUN
fcis-14572	13	18	.	.	PUNCT
fcis-14572	14	1	in	in	ADP
fcis-14572	14	2	the	the	DET
fcis-14572	14	3	equalization	equalization	NOUN
fcis-14572	14	4	system	system	NOUN
fcis-14572	14	5	,	,	PUNCT
fcis-14572	14	6	the	the	DET
fcis-14572	14	7	optimal	optimal	ADJ
fcis-14572	14	8	controller	controller	NOUN
fcis-14572	14	9	is	be	AUX
fcis-14572	14	10	used	use	VERB
fcis-14572	14	11	to	to	PART
fcis-14572	14	12	determine	determine	VERB
fcis-14572	14	13	the	the	DET
fcis-14572	14	14	directional	directional	ADJ
fcis-14572	14	15	angular	angular	ADJ
fcis-14572	14	16	speed	speed	NOUN
fcis-14572	14	17	of	of	ADP
fcis-14572	14	18	the	the	DET
fcis-14572	14	19	handle	handle	NOUN
fcis-14572	14	20	,	,	PUNCT
fcis-14572	14	21	so	so	SCONJ
fcis-14572	14	22	as	as	SCONJ
fcis-14572	14	23	to	to	PART
fcis-14572	14	24	realize	realize	VERB
fcis-14572	14	25	the	the	DET
fcis-14572	14	26	adjustment	adjustment	NOUN
fcis-14572	14	27	of	of	ADP
fcis-14572	14	28	the	the	DET
fcis-14572	14	29	vehicle	vehicle	NOUN
fcis-14572	14	30	.	.	PUNCT
fcis-14572	15	1	by	by	ADP
fcis-14572	15	2	using	use	VERB
fcis-14572	15	3	small	small	ADJ
fcis-14572	15	4	gain	gain	NOUN
fcis-14572	15	5	technology	technology	NOUN
fcis-14572	15	6	,	,	PUNCT
fcis-14572	15	7	the	the	DET
fcis-14572	15	8	problem	problem	NOUN
fcis-14572	15	9	of	of	ADP
fcis-14572	15	10	high	high	ADJ
fcis-14572	15	11	coupling	coupling	NOUN
fcis-14572	15	12	is	be	AUX
fcis-14572	15	13	solved	solve	VERB
fcis-14572	15	14	by	by	ADP
fcis-14572	15	15	verifying	verify	VERB
fcis-14572	15	16	the	the	DET
fcis-14572	15	17	asymptotic	asymptotic	ADJ
fcis-14572	15	18	stability	stability	NOUN
fcis-14572	15	19	of	of	ADP
fcis-14572	15	20	closed	closed	ADJ
fcis-14572	15	21	-	-	PUNCT
fcis-14572	15	22	loop	loop	NOUN
fcis-14572	15	23	bicycle	bicycle	NOUN
fcis-14572	15	24	control	control	NOUN
fcis-14572	15	25	.	.	PUNCT
fcis-14572	16	1	the	the	DET
fcis-14572	16	2	two	two	NUM
fcis-14572	16	3	-	-	PUNCT
fcis-14572	16	4	wheeled	wheel	VERB
fcis-14572	16	5	vehicle	vehicle	NOUN
fcis-14572	16	6	can	can	AUX
fcis-14572	16	7	track	track	VERB
fcis-14572	16	8	the	the	DET
fcis-14572	16	9	expected	expect	VERB
fcis-14572	16	10	trajectory	trajectory	NOUN
fcis-14572	16	11	with	with	ADP
fcis-14572	16	12	stable	stable	ADJ
fcis-14572	16	13	attitude	attitude	NOUN
fcis-14572	16	14	.	.	PUNCT
fcis-14572	17	1	firstly	firstly	ADV
fcis-14572	17	2	,	,	PUNCT
fcis-14572	17	3	the	the	DET
fcis-14572	17	4	kinematics	kinematics	NOUN
fcis-14572	17	5	model	model	NOUN
fcis-14572	17	6	of	of	ADP
fcis-14572	17	7	unmanned	unmanned	ADJ
fcis-14572	17	8	two	two	NUM
fcis-14572	17	9	-	-	PUNCT
fcis-14572	17	10	wheeled	wheel	VERB
fcis-14572	17	11	vehicle	vehicle	NOUN
fcis-14572	17	12	is	be	AUX
fcis-14572	17	13	established	establish	VERB
fcis-14572	17	14	.	.	PUNCT
fcis-14572	18	1	the	the	DET
fcis-14572	18	2	next	next	ADJ
fcis-14572	18	3	step	step	NOUN
fcis-14572	18	4	is	be	AUX
fcis-14572	18	5	to	to	PART
fcis-14572	18	6	establish	establish	VERB
fcis-14572	18	7	the	the	DET
fcis-14572	18	8	relationship	relationship	NOUN
fcis-14572	18	9	between	between	ADP
fcis-14572	18	10	the	the	DET
fcis-14572	18	11	kinematics	kinematics	NOUN
fcis-14572	18	12	model	model	NOUN
fcis-14572	18	13	of	of	ADP
fcis-14572	18	14	the	the	DET
fcis-14572	18	15	unmanned	unmanned	ADJ
fcis-14572	18	16	two	two	NUM
fcis-14572	18	17	-	-	PUNCT
fcis-14572	18	18	wheeler	wheeler	NOUN
fcis-14572	18	19	and	and	CCONJ
fcis-14572	18	20	the	the	DET
fcis-14572	18	21	rolling	rolling	ADJ
fcis-14572	18	22	angle	angle	NOUN
fcis-14572	18	23	of	of	ADP
fcis-14572	18	24	the	the	DET
fcis-14572	18	25	vehicle	vehicle	NOUN
fcis-14572	18	26	.	.	PUNCT
fcis-14572	19	1	on	on	ADP
fcis-14572	19	2	this	this	DET
fcis-14572	19	3	basis	basis	NOUN
fcis-14572	19	4	,	,	PUNCT
fcis-14572	19	5	a	a	DET
fcis-14572	19	6	control	control	NOUN
fcis-14572	19	7	algorithm	algorithm	NOUN
fcis-14572	19	8	for	for	ADP
fcis-14572	19	9	unmanned	unmanned	ADJ
fcis-14572	19	10	two	two	NUM
fcis-14572	19	11	-	-	PUNCT
fcis-14572	19	12	wheeled	wheel	VERB
fcis-14572	19	13	vehicle	vehicle	NOUN
fcis-14572	19	14	trajectory	trajectory	NOUN
fcis-14572	19	15	tracking	tracking	NOUN
fcis-14572	19	16	considering	consider	VERB
fcis-14572	19	17	model	model	NOUN
fcis-14572	19	18	prediction	prediction	NOUN
fcis-14572	19	19	is	be	AUX
fcis-14572	19	20	proposed	propose	VERB
fcis-14572	19	21	.	.	PUNCT
fcis-14572	20	1	finally	finally	ADV
fcis-14572	20	2	,	,	PUNCT
fcis-14572	20	3	through	through	ADP
fcis-14572	20	4	simulation	simulation	NOUN
fcis-14572	20	5	,	,	PUNCT
fcis-14572	20	6	it	it	PRON
fcis-14572	20	7	is	be	AUX
fcis-14572	20	8	proved	prove	VERB
fcis-14572	20	9	that	that	SCONJ
fcis-14572	20	10	the	the	DET
fcis-14572	20	11	unmanned	unmanned	ADJ
fcis-14572	20	12	two	two	NUM
fcis-14572	20	13	-	-	PUNCT
fcis-14572	20	14	wheeled	wheel	VERB
fcis-14572	20	15	vehicle	vehicle	NOUN
fcis-14572	20	16	can	can	AUX
fcis-14572	20	17	track	track	VERB
fcis-14572	20	18	the	the	DET
fcis-14572	20	19	desired	desire	VERB
fcis-14572	20	20	trajectory	trajectory	NOUN
fcis-14572	20	21	while	while	SCONJ
fcis-14572	20	22	maintaining	maintain	VERB
fcis-14572	20	23	its	its	PRON
fcis-14572	20	24	attitude	attitude	NOUN
fcis-14572	20	25	stability	stability	NOUN
fcis-14572	20	26	.	.	PUNCT
fcis-14572	21	1	2	2	X
fcis-14572	21	2	.	.	X
fcis-14572	21	3	kinematic	kinematic	ADJ
fcis-14572	21	4	error	error	NOUN
fcis-14572	21	5	model	model	NOUN
fcis-14572	21	6	in	in	ADP
fcis-14572	21	7	order	order	NOUN
fcis-14572	21	8	to	to	PART
fcis-14572	21	9	realize	realize	VERB
fcis-14572	21	10	the	the	DET
fcis-14572	21	11	track	track	NOUN
fcis-14572	21	12	tracking	tracking	NOUN
fcis-14572	21	13	of	of	ADP
fcis-14572	21	14	unmanned	unmanned	ADJ
fcis-14572	21	15	twowheelers	twowheeler	NOUN
fcis-14572	21	16	,	,	PUNCT
fcis-14572	21	17	the	the	DET
fcis-14572	21	18	kinematic	kinematic	ADJ
fcis-14572	21	19	model	model	NOUN
fcis-14572	21	20	of	of	ADP
fcis-14572	21	21	two	two	NUM
fcis-14572	21	22	-	-	PUNCT
fcis-14572	21	23	wheelers	wheeler	NOUN
fcis-14572	21	24	must	must	AUX
fcis-14572	21	25	be	be	AUX
fcis-14572	21	26	established	establish	VERB
fcis-14572	21	27	to	to	PART
fcis-14572	21	28	analyze	analyze	VERB
fcis-14572	21	29	the	the	DET
fcis-14572	21	30	motion	motion	NOUN
fcis-14572	21	31	law	law	NOUN
fcis-14572	21	32	of	of	ADP
fcis-14572	21	33	two	two	NUM
fcis-14572	21	34	-	-	PUNCT
fcis-14572	21	35	wheelers	wheeler	NOUN
fcis-14572	21	36	from	from	ADP
fcis-14572	21	37	the	the	DET
fcis-14572	21	38	angle	angle	NOUN
fcis-14572	21	39	of	of	ADP
fcis-14572	21	40	geometry	geometry	NOUN
fcis-14572	21	41	.	.	PUNCT
fcis-14572	22	1	the	the	DET
fcis-14572	22	2	model	model	NOUN
fcis-14572	22	3	mainly	mainly	ADV
fcis-14572	22	4	reflects	reflect	VERB
fcis-14572	22	5	the	the	DET
fcis-14572	22	6	change	change	NOUN
fcis-14572	22	7	of	of	ADP
fcis-14572	22	8	the	the	DET
fcis-14572	22	9	speed	speed	NOUN
fcis-14572	22	10	and	and	CCONJ
fcis-14572	22	11	spatial	spatial	ADJ
fcis-14572	22	12	position	position	NOUN
fcis-14572	22	13	of	of	ADP
fcis-14572	22	14	the	the	DET
fcis-14572	22	15	two	two	NUM
fcis-14572	22	16	-	-	PUNCT
fcis-14572	22	17	wheeled	wheel	VERB
fcis-14572	22	18	vehicle	vehicle	NOUN
fcis-14572	22	19	at	at	ADP
fcis-14572	22	20	different	different	ADJ
fcis-14572	22	21	time	time	NOUN
fcis-14572	22	22	points	point	NOUN
fcis-14572	22	23	.	.	PUNCT
fcis-14572	23	1	it	it	PRON
fcis-14572	23	2	is	be	AUX
fcis-14572	23	3	assumed	assume	VERB
fcis-14572	23	4	that	that	SCONJ
fcis-14572	23	5	the	the	DET
fcis-14572	23	6	vehicle	vehicle	NOUN
fcis-14572	23	7	is	be	AUX
fcis-14572	23	8	driving	drive	VERB
fcis-14572	23	9	on	on	ADP
fcis-14572	23	10	a	a	DET
fcis-14572	23	11	good	good	ADJ
fcis-14572	23	12	road	road	NOUN
fcis-14572	23	13	surface	surface	NOUN
fcis-14572	23	14	,	,	PUNCT
fcis-14572	23	15	and	and	CCONJ
fcis-14572	23	16	the	the	DET
fcis-14572	23	17	vehicle	vehicle	NOUN
fcis-14572	23	18	speed	speed	NOUN
fcis-14572	23	19	is	be	AUX
fcis-14572	23	20	controlled	control	VERB
fcis-14572	23	21	at	at	ADP
fcis-14572	23	22	[	[	X
fcis-14572	23	23	0m	0m	NUM
fcis-14572	23	24	/	/	SYM
fcis-14572	23	25	s,6	s,6	NOUN
fcis-14572	23	26	m/s	m/s	PROPN
fcis-14572	23	27	]	]	PUNCT
fcis-14572	23	28	,	,	PUNCT
fcis-14572	23	29	and	and	CCONJ
fcis-14572	23	30	on	on	ADP
fcis-14572	23	31	the	the	DET
fcis-14572	23	32	premise	premise	NOUN
fcis-14572	23	33	that	that	SCONJ
fcis-14572	23	34	the	the	DET
fcis-14572	23	35	vehicle	vehicle	NOUN
fcis-14572	23	36	's	's	PART
fcis-14572	23	37	attitude	attitude	NOUN
fcis-14572	23	38	is	be	AUX
fcis-14572	23	39	stable	stable	ADJ
fcis-14572	23	40	,	,	PUNCT
fcis-14572	23	41	the	the	DET
fcis-14572	23	42	trajectory	trajectory	NOUN
fcis-14572	23	43	tracking	tracking	NOUN
fcis-14572	23	44	controller	controller	NOUN
fcis-14572	23	45	is	be	AUX
fcis-14572	23	46	designed	design	VERB
fcis-14572	23	47	through	through	ADP
fcis-14572	23	48	the	the	DET
fcis-14572	23	49	kinematic	kinematic	ADJ
fcis-14572	23	50	model	model	NOUN
fcis-14572	24	1	[	[	X
fcis-14572	24	2	3	3	NUM
fcis-14572	24	3	-	-	SYM
fcis-14572	24	4	4	4	NUM
fcis-14572	24	5	]	]	PUNCT
fcis-14572	24	6	.	.	PUNCT
fcis-14572	25	1	without	without	ADP
fcis-14572	25	2	considering	consider	VERB
fcis-14572	25	3	the	the	DET
fcis-14572	25	4	vehicle	vehicle	NOUN
fcis-14572	25	5	dynamics	dynamic	NOUN
fcis-14572	25	6	model	model	NOUN
fcis-14572	25	7	.	.	PUNCT
fcis-14572	26	1	in	in	ADP
fcis-14572	26	2	the	the	DET
fcis-14572	26	3	inertial	inertial	ADJ
fcis-14572	26	4	plane	plane	NOUN
fcis-14572	26	5	rectangular	rectangular	ADJ
fcis-14572	26	6	coordinate	coordinate	NOUN
fcis-14572	26	7	system	system	NOUN
fcis-14572	26	8	involved	involve	VERB
fcis-14572	26	9	,	,	PUNCT
fcis-14572	26	10	the	the	DET
fcis-14572	26	11	x	x	VERB
fcis-14572	26	12	axis	axis	NOUN
fcis-14572	26	13	is	be	AUX
fcis-14572	26	14	horizontally	horizontally	ADV
fcis-14572	26	15	to	to	ADP
fcis-14572	26	16	the	the	DET
fcis-14572	26	17	right	right	NOUN
fcis-14572	26	18	,	,	PUNCT
fcis-14572	26	19	and	and	CCONJ
fcis-14572	26	20	the	the	DET
fcis-14572	26	21	y	y	PROPN
fcis-14572	26	22	axis	axis	NOUN
fcis-14572	26	23	is	be	AUX
fcis-14572	26	24	vertically	vertically	ADV
fcis-14572	26	25	upward	upward	ADV
fcis-14572	26	26	[	[	X
fcis-14572	26	27	5	5	NUM
fcis-14572	26	28	]	]	PUNCT
fcis-14572	26	29	.	.	PUNCT
fcis-14572	27	1	in	in	ADP
fcis-14572	27	2	the	the	DET
fcis-14572	27	3	rectangular	rectangular	ADJ
fcis-14572	27	4	coordinate	coordinate	NOUN
fcis-14572	27	5	system	system	NOUN
fcis-14572	27	6	of	of	ADP
fcis-14572	27	7	the	the	DET
fcis-14572	27	8	twowheel	twowheel	NOUN
fcis-14572	27	9	chassis	chassis	NOUN
fcis-14572	27	10	plane	plane	NOUN
fcis-14572	27	11	,	,	PUNCT
fcis-14572	27	12	the	the	DET
fcis-14572	27	13	x	x	VERB
fcis-14572	27	14	axis	axis	NOUN
fcis-14572	27	15	is	be	AUX
fcis-14572	27	16	forward	forward	ADV
fcis-14572	27	17	along	along	ADP
fcis-14572	27	18	the	the	DET
fcis-14572	27	19	two	two	NUM
fcis-14572	27	20	-	-	PUNCT
fcis-14572	27	21	wheel	wheel	NOUN
fcis-14572	27	22	ground	ground	NOUN
fcis-14572	27	23	point	point	NOUN
fcis-14572	27	24	line	line	NOUN
fcis-14572	27	25	,	,	PUNCT
fcis-14572	27	26	and	and	CCONJ
fcis-14572	27	27	the	the	DET
fcis-14572	27	28	y	y	PROPN
fcis-14572	27	29	axis	axis	NOUN
fcis-14572	27	30	is	be	AUX
fcis-14572	27	31	perpendicular	perpendicular	ADJ
fcis-14572	27	32	to	to	ADP
fcis-14572	27	33	the	the	DET
fcis-14572	27	34	twowheel	twowheel	NOUN
fcis-14572	27	35	ground	ground	NOUN
fcis-14572	27	36	point	point	NOUN
fcis-14572	27	37	line	line	NOUN
fcis-14572	27	38	and	and	CCONJ
fcis-14572	27	39	points	point	NOUN
fcis-14572	27	40	to	to	ADP
fcis-14572	27	41	the	the	DET
fcis-14572	27	42	left	left	NOUN
fcis-14572	27	43	of	of	ADP
fcis-14572	27	44	the	the	DET
fcis-14572	27	45	two	two	NUM
fcis-14572	27	46	-	-	PUNCT
fcis-14572	27	47	wheel	wheel	NOUN
fcis-14572	27	48	.	.	PUNCT
fcis-14572	28	1	the	the	DET
fcis-14572	28	2	angle	angle	NOUN
fcis-14572	28	3	between	between	ADP
fcis-14572	28	4	the	the	DET
fcis-14572	28	5	x	x	NOUN
fcis-14572	28	6	axis	axis	NOUN
fcis-14572	28	7	of	of	ADP
fcis-14572	28	8	the	the	DET
fcis-14572	28	9	car	car	NOUN
fcis-14572	28	10	body	body	NOUN
fcis-14572	28	11	coordinate	coordinate	NOUN
fcis-14572	28	12	system	system	NOUN
fcis-14572	28	13	and	and	CCONJ
fcis-14572	28	14	the	the	DET
fcis-14572	28	15	x	x	ADJ
fcis-14572	28	16	axis	axis	NOUN
fcis-14572	28	17	of	of	ADP
fcis-14572	28	18	the	the	DET
fcis-14572	28	19	inertial	inertial	ADJ
fcis-14572	28	20	coordinate	coordinate	NOUN
fcis-14572	28	21	system	system	NOUN
fcis-14572	28	22	is	be	AUX
fcis-14572	28	23	the	the	DET
fcis-14572	28	24	yaw	yaw	NOUN
fcis-14572	28	25	angle	angle	NOUN
fcis-14572	28	26	,	,	PUNCT
fcis-14572	28	27	and	and	CCONJ
fcis-14572	28	28	the	the	DET
fcis-14572	28	29	counterclockwise	counterclockwise	NOUN
fcis-14572	28	30	direction	direction	NOUN
fcis-14572	28	31	is	be	AUX
fcis-14572	28	32	defined	define	VERB
fcis-14572	28	33	as	as	ADP
fcis-14572	28	34	the	the	DET
fcis-14572	28	35	positive	positive	ADJ
fcis-14572	28	36	direction	direction	NOUN
fcis-14572	28	37	.	.	PUNCT
fcis-14572	29	1	in	in	ADP
fcis-14572	29	2	the	the	DET
fcis-14572	29	3	inertial	inertial	ADJ
fcis-14572	29	4	plane	plane	NOUN
fcis-14572	29	5	rectangular	rectangular	ADJ
fcis-14572	29	6	coordinate	coordinate	NOUN
fcis-14572	29	7	system	system	NOUN
fcis-14572	29	8	,	,	PUNCT
fcis-14572	29	9	the	the	DET
fcis-14572	29	10	coordinates	coordinate	NOUN
fcis-14572	29	11	of	of	ADP
fcis-14572	29	12	the	the	DET
fcis-14572	29	13	center	center	NOUN
fcis-14572	29	14	of	of	ADP
fcis-14572	29	15	the	the	DET
fcis-14572	29	16	front	front	ADJ
fcis-14572	29	17	wheel	wheel	NOUN
fcis-14572	29	18	and	and	CCONJ
fcis-14572	29	19	the	the	DET
fcis-14572	29	20	center	center	NOUN
fcis-14572	29	21	of	of	ADP
fcis-14572	29	22	the	the	DET
fcis-14572	29	23	rear	rear	ADJ
fcis-14572	29	24	wheel	wheel	NOUN
fcis-14572	29	25	of	of	ADP
fcis-14572	29	26	the	the	DET
fcis-14572	29	27	unmanned	unmanned	ADJ
fcis-14572	29	28	two	two	NUM
fcis-14572	29	29	-	-	PUNCT
fcis-14572	29	30	wheel	wheel	NOUN
fcis-14572	29	31	vehicle	vehicle	NOUN
fcis-14572	29	32	are	be	AUX
fcis-14572	29	33	,	,	PUNCT
fcis-14572	29	34	and	and	CCONJ
fcis-14572	29	35	,	,	PUNCT
fcis-14572	29	36	,	,	PUNCT
fcis-14572	29	37	is	be	AUX
fcis-14572	29	38	wheelbase	wheelbase	ADJ
fcis-14572	29	39	,	,	PUNCT
fcis-14572	29	40	is	be	AUX
fcis-14572	29	41	the	the	DET
fcis-14572	29	42	wheel	wheel	ADJ
fcis-14572	29	43	speed	speed	NOUN
fcis-14572	29	44	of	of	ADP
fcis-14572	29	45	the	the	DET
fcis-14572	29	46	rear	rear	ADJ
fcis-14572	29	47	wheel	wheel	NOUN
fcis-14572	29	48	,	,	PUNCT
fcis-14572	29	49	∆	∆	PROPN
fcis-14572	29	50	is	be	AUX
fcis-14572	29	51	the	the	DET
fcis-14572	29	52	motion	motion	NOUN
fcis-14572	29	53	steering	steering	NOUN
fcis-14572	29	54	angle	angle	NOUN
fcis-14572	29	55	of	of	ADP
fcis-14572	29	56	the	the	DET
fcis-14572	29	57	unmanned	unmanned	ADJ
fcis-14572	29	58	two	two	NUM
fcis-14572	29	59	-	-	PUNCT
fcis-14572	29	60	wheeler	wheeler	NOUN
fcis-14572	29	61	.	.	PUNCT
fcis-14572	30	1	when	when	SCONJ
fcis-14572	30	2	an	an	DET
fcis-14572	30	3	unmanned	unmanned	ADJ
fcis-14572	30	4	two	two	NUM
fcis-14572	30	5	-	-	PUNCT
fcis-14572	30	6	wheeler	wheeler	NOUN
fcis-14572	30	7	is	be	AUX
fcis-14572	30	8	driving	drive	VERB
fcis-14572	30	9	,	,	PUNCT
fcis-14572	30	10	the	the	DET
fcis-14572	30	11	speed	speed	NOUN
fcis-14572	30	12	at	at	ADP
fcis-14572	30	13	the	the	DET
fcis-14572	30	14	center	center	NOUN
fcis-14572	30	15	of	of	ADP
fcis-14572	30	16	the	the	DET
fcis-14572	30	17	rear	rear	ADJ
fcis-14572	30	18	wheel	wheel	NOUN
fcis-14572	30	19	x	x	X
fcis-14572	30	20	,	,	PUNCT
fcis-14572	30	21	y	y	PROPN
fcis-14572	30	22	is	be	AUX
fcis-14572	30	23	:	:	PUNCT
fcis-14572	30	24	cos	cos	INTJ
fcis-14572	30	25	sinr	sinr	NOUN
fcis-14572	30	26	r	r	NOUN
fcis-14572	30	27	rv	rv	NOUN
fcis-14572	30	28	x	x	SYM
fcis-14572	30	29	y	y	NOUN
fcis-14572	30	30			NOUN
fcis-14572	30	31			NOUN
fcis-14572	30	32			NOUN
fcis-14572	30	33	(	(	PUNCT
fcis-14572	30	34	1	1	X
fcis-14572	30	35	)	)	PUNCT
fcis-14572	30	36	the	the	DET
fcis-14572	30	37	kinematic	kinematic	ADJ
fcis-14572	30	38	constraints	constraint	NOUN
fcis-14572	30	39	of	of	ADP
fcis-14572	30	40	the	the	DET
fcis-14572	30	41	front	front	ADJ
fcis-14572	30	42	and	and	CCONJ
fcis-14572	30	43	rear	rear	ADJ
fcis-14572	30	44	wheels	wheel	NOUN
fcis-14572	30	45	of	of	ADP
fcis-14572	30	46	unmanned	unmanned	ADJ
fcis-14572	30	47	two	two	NUM
fcis-14572	30	48	-	-	PUNCT
fcis-14572	30	49	wheelers	wheeler	NOUN
fcis-14572	30	50	are	be	AUX
fcis-14572	30	51	:	:	PUNCT
fcis-14572	30	52	sin	sin	NOUN
fcis-14572	30	53	(	(	PUNCT
fcis-14572	30	54	)	)	PUNCT
fcis-14572	30	55	cos	cos	PROPN
fcis-14572	30	56	(	(	PUNCT
fcis-14572	30	57	)	)	PUNCT
fcis-14572	30	58	0	0	NUM
fcis-14572	30	59	sin	sin	NOUN
fcis-14572	31	1	cos	cos	PROPN
fcis-14572	31	2	0	0	PROPN
fcis-14572	32	1	f	f	PROPN
fcis-14572	32	2	f	f	NOUN
fcis-14572	33	1	r	r	NOUN
fcis-14572	33	2	r	r	NOUN
fcis-14572	33	3	x	x	PUNCT
fcis-14572	33	4	y	y	NOUN
fcis-14572	33	5	x	x	SYM
fcis-14572	33	6	y	y	NOUN
fcis-14572	33	7			NOUN
fcis-14572	33	8			NOUN
fcis-14572	34	1			NOUN
fcis-14572	34	2			NOUN
fcis-14572	34	3			ADP
fcis-14572	34	4			PROPN
fcis-14572	34	5			PROPN
fcis-14572	34	6			PROPN
fcis-14572	34	7			VERB
fcis-14572	34	8			NUM
fcis-14572	34	9			NOUN
fcis-14572	34	10			NOUN
fcis-14572	34	11			NOUN
fcis-14572	34	12			NOUN
fcis-14572	34	13			NOUN
fcis-14572	34	14			NOUN
fcis-14572	34	15	(	(	PUNCT
fcis-14572	34	16	2	2	X
fcis-14572	34	17	)	)	PUNCT
fcis-14572	34	18	combining	combine	VERB
fcis-14572	34	19	formula	formula	NOUN
fcis-14572	34	20	1	1	NUM
fcis-14572	34	21	and	and	CCONJ
fcis-14572	34	22	formula	formula	NOUN
fcis-14572	34	23	2	2	NUM
fcis-14572	34	24	,	,	PUNCT
fcis-14572	34	25	the	the	DET
fcis-14572	34	26	velocity	velocity	NOUN
fcis-14572	34	27	vector	vector	NOUN
fcis-14572	34	28	of	of	ADP
fcis-14572	34	29	the	the	DET
fcis-14572	34	30	rear	rear	ADJ
fcis-14572	34	31	wheel	wheel	NOUN
fcis-14572	34	32	in	in	ADP
fcis-14572	34	33	the	the	DET
fcis-14572	34	34	inertial	inertial	ADJ
fcis-14572	34	35	coordinate	coordinate	NOUN
fcis-14572	34	36	system	system	NOUN
fcis-14572	34	37	is	be	AUX
fcis-14572	34	38	obtained	obtain	VERB
fcis-14572	34	39	:	:	PUNCT
fcis-14572	35	1	cos	cos	ADP
fcis-14572	35	2	sin	sin	NOUN
fcis-14572	35	3	r	r	NOUN
fcis-14572	35	4	r	r	NOUN
fcis-14572	35	5	r	r	NOUN
fcis-14572	35	6	r	r	NOUN
fcis-14572	35	7	x	x	SYM
fcis-14572	35	8	v	v	ADP
fcis-14572	35	9	y	y	PROPN
fcis-14572	35	10	v	v	NOUN
fcis-14572	35	11			PRON
fcis-14572	35	12			NOUN
fcis-14572	35	13			NOUN
fcis-14572	35	14			VERB
fcis-14572	35	15			NUM
fcis-14572	35	16			NOUN
fcis-14572	35	17			NOUN
fcis-14572	35	18			NOUN
fcis-14572	35	19	(	(	PUNCT
fcis-14572	35	20	3	3	NUM
fcis-14572	35	21	)	)	PUNCT
fcis-14572	35	22	according	accord	VERB
fcis-14572	35	23	to	to	ADP
fcis-14572	35	24	formula	formula	NOUN
fcis-14572	35	25	2	2	NUM
fcis-14572	35	26	and	and	CCONJ
fcis-14572	35	27	3	3	NUM
fcis-14572	35	28	,	,	PUNCT
fcis-14572	35	29	and	and	CCONJ
fcis-14572	35	30	the	the	DET
fcis-14572	35	31	geometric	geometric	ADJ
fcis-14572	35	32	relationship	relationship	NOUN
fcis-14572	35	33	between	between	ADP
fcis-14572	35	34	front	front	ADJ
fcis-14572	35	35	and	and	CCONJ
fcis-14572	35	36	rear	rear	ADJ
fcis-14572	35	37	wheels	wheel	NOUN
fcis-14572	35	38	,	,	PUNCT
fcis-14572	35	39	the	the	DET
fcis-14572	35	40	yaw	yaw	NOUN
fcis-14572	35	41	velocity	velocity	NOUN
fcis-14572	35	42	can	can	AUX
fcis-14572	35	43	be	be	AUX
fcis-14572	35	44	obtained	obtain	VERB
fcis-14572	35	45	as	as	ADP
fcis-14572	35	46	:	:	PUNCT
fcis-14572	35	47	47	47	NUM
fcis-14572	35	48	tanrv	tanrv	PROPN
fcis-14572	35	49	l	l	NOUN
fcis-14572	35	50			NOUN
fcis-14572	36	1			NOUN
fcis-14572	36	2			PUNCT
fcis-14572	36	3	(	(	PUNCT
fcis-14572	36	4	4	4	NUM
fcis-14572	36	5	)	)	PUNCT
fcis-14572	36	6	according	accord	VERB
fcis-14572	36	7	to	to	ADP
fcis-14572	36	8	the	the	DET
fcis-14572	36	9	yaw	yaw	NOUN
fcis-14572	36	10	velocity	velocity	NOUN
fcis-14572	36	11	and	and	CCONJ
fcis-14572	36	12	velocity	velocity	NOUN
fcis-14572	36	13	of	of	ADP
fcis-14572	36	14	the	the	DET
fcis-14572	36	15	rear	rear	ADJ
fcis-14572	36	16	wheel	wheel	NOUN
fcis-14572	36	17	in	in	ADP
fcis-14572	36	18	the	the	DET
fcis-14572	36	19	inertial	inertial	ADJ
fcis-14572	36	20	coordinate	coordinate	NOUN
fcis-14572	36	21	system	system	NOUN
fcis-14572	36	22	,	,	PUNCT
fcis-14572	36	23	the	the	DET
fcis-14572	36	24	kinematics	kinematics	NOUN
fcis-14572	36	25	model	model	NOUN
fcis-14572	36	26	of	of	ADP
fcis-14572	36	27	the	the	DET
fcis-14572	36	28	unmanned	unmanned	ADJ
fcis-14572	36	29	two	two	NUM
fcis-14572	36	30	-	-	PUNCT
fcis-14572	36	31	wheeled	wheel	VERB
fcis-14572	36	32	vehicle	vehicle	NOUN
fcis-14572	36	33	is	be	AUX
fcis-14572	36	34	obtained	obtain	VERB
fcis-14572	36	35	by	by	ADP
fcis-14572	36	36	formulas	formula	NOUN
fcis-14572	36	37	3	3	NUM
fcis-14572	36	38	and	and	CCONJ
fcis-14572	36	39	4	4	NUM
fcis-14572	36	40	:	:	PUNCT
fcis-14572	36	41	tan	tan	PROPN
fcis-14572	36	42	cos	cos	PROPN
fcis-14572	36	43	sin	sin	NOUN
fcis-14572	37	1	r	r	NOUN
fcis-14572	37	2	r	r	NOUN
fcis-14572	37	3	r	r	NOUN
fcis-14572	37	4	r	r	NOUN
fcis-14572	37	5	r	r	NOUN
fcis-14572	37	6	r	r	NOUN
fcis-14572	37	7	v	v	ADP
fcis-14572	37	8	l	l	NOUN
fcis-14572	37	9	a	a	DET
fcis-14572	37	10	v	v	NOUN
fcis-14572	37	11	x	x	SYM
fcis-14572	37	12	v	v	PROPN
fcis-14572	37	13	y	y	PROPN
fcis-14572	37	14	v	v	NOUN
fcis-14572	37	15			NOUN
fcis-14572	37	16			NOUN
fcis-14572	37	17			NOUN
fcis-14572	37	18			ADP
fcis-14572	38	1			NUM
fcis-14572	38	2			INTJ
fcis-14572	38	3			NOUN
fcis-14572	39	1			PROPN
fcis-14572	40	1			NUM
fcis-14572	40	2			NUM
fcis-14572	40	3			NUM
fcis-14572	40	4			NOUN
fcis-14572	40	5			NOUN
fcis-14572	40	6			NOUN
fcis-14572	40	7			NOUN
fcis-14572	40	8			NOUN
fcis-14572	40	9	(	(	PUNCT
fcis-14572	40	10	5	5	NUM
fcis-14572	40	11	)	)	PUNCT
fcis-14572	40	12	is	be	AUX
fcis-14572	40	13	the	the	DET
fcis-14572	40	14	acceleration	acceleration	NOUN
fcis-14572	40	15	of	of	ADP
fcis-14572	40	16	the	the	DET
fcis-14572	40	17	rear	rear	ADJ
fcis-14572	40	18	wheels	wheel	NOUN
fcis-14572	40	19	of	of	ADP
fcis-14572	40	20	the	the	DET
fcis-14572	40	21	vehicle	vehicle	NOUN
fcis-14572	40	22	.	.	PUNCT
fcis-14572	41	1	according	accord	VERB
fcis-14572	41	2	to	to	ADP
fcis-14572	41	3	formula	formula	NOUN
fcis-14572	41	4	5	5	NUM
fcis-14572	41	5	,	,	PUNCT
fcis-14572	41	6	in	in	ADP
fcis-14572	41	7	the	the	DET
fcis-14572	41	8	trajectory	trajectory	NOUN
fcis-14572	41	9	tracking	tracking	NOUN
fcis-14572	41	10	control	control	NOUN
fcis-14572	41	11	algorithm	algorithm	NOUN
fcis-14572	41	12	,	,	PUNCT
fcis-14572	41	13	when	when	SCONJ
fcis-14572	41	14	the	the	DET
fcis-14572	41	15	system	system	NOUN
fcis-14572	41	16	input	input	NOUN
fcis-14572	41	17	is	be	AUX
fcis-14572	41	18	∆	∆	PROPN
fcis-14572	41	19	,	,	PUNCT
fcis-14572	41	20	converting	convert	VERB
fcis-14572	41	21	the	the	DET
fcis-14572	41	22	kinematic	kinematic	ADJ
fcis-14572	41	23	model	model	NOUN
fcis-14572	41	24	into	into	ADP
fcis-14572	41	25	a	a	DET
fcis-14572	41	26	linear	linear	ADJ
fcis-14572	41	27	vehicle	vehicle	NOUN
fcis-14572	41	28	error	error	NOUN
fcis-14572	41	29	model	model	NOUN
fcis-14572	41	30	can	can	AUX
fcis-14572	41	31	avoid	avoid	VERB
fcis-14572	41	32	the	the	DET
fcis-14572	41	33	problem	problem	NOUN
fcis-14572	41	34	that	that	PRON
fcis-14572	41	35	is	be	AUX
fcis-14572	41	36	difficult	difficult	ADJ
fcis-14572	41	37	to	to	PART
fcis-14572	41	38	convert	convert	VERB
fcis-14572	41	39	the	the	DET
fcis-14572	41	40	system	system	NOUN
fcis-14572	41	41	into	into	ADP
fcis-14572	41	42	a	a	DET
fcis-14572	41	43	state	state	NOUN
fcis-14572	41	44	space	space	NOUN
fcis-14572	41	45	form	form	NOUN
fcis-14572	41	46	due	due	ADP
fcis-14572	41	47	to	to	ADP
fcis-14572	41	48	the	the	DET
fcis-14572	41	49	inclusion	inclusion	NOUN
fcis-14572	41	50	of	of	ADP
fcis-14572	41	51	input	input	NOUN
fcis-14572	41	52	items	item	NOUN
fcis-14572	41	53	.	.	PUNCT
fcis-14572	42	1	the	the	DET
fcis-14572	42	2	following	follow	VERB
fcis-14572	42	3	can	can	AUX
fcis-14572	42	4	be	be	AUX
fcis-14572	42	5	obtained	obtain	VERB
fcis-14572	42	6	:	:	PUNCT
fcis-14572	42	7	1	1	NUM
fcis-14572	42	8	2	2	NUM
fcis-14572	42	9	3	3	NUM
fcis-14572	42	10	cos	cos	PROPN
fcis-14572	42	11	sin	sin	NOUN
fcis-14572	42	12	tan	tan	PROPN
fcis-14572	42	13	r	r	NOUN
fcis-14572	42	14	r	r	NOUN
fcis-14572	42	15	r	r	NOUN
fcis-14572	42	16	r	r	NOUN
fcis-14572	42	17	r	r	NOUN
fcis-14572	42	18	x	x	SYM
fcis-14572	42	19	v	v	NOUN
fcis-14572	42	20	f	f	X
fcis-14572	42	21	y	y	PROPN
fcis-14572	42	22	v	v	PROPN
fcis-14572	42	23	f	f	PROPN
fcis-14572	42	24	v	v	INTJ
fcis-14572	42	25	f	f	PROPN
fcis-14572	42	26	l	l	NOUN
fcis-14572	42	27			NOUN
fcis-14572	42	28			NOUN
fcis-14572	43	1			NOUN
fcis-14572	43	2			PROPN
fcis-14572	43	3			ADJ
fcis-14572	43	4			NOUN
fcis-14572	43	5			NOUN
fcis-14572	43	6			INTJ
fcis-14572	43	7			PROPN
fcis-14572	43	8			ADJ
fcis-14572	43	9			NOUN
fcis-14572	43	10			PROPN
fcis-14572	43	11			NOUN
fcis-14572	43	12			NOUN
fcis-14572	44	1			NOUN
fcis-14572	44	2			ADJ
fcis-14572	44	3			NOUN
fcis-14572	44	4			PROPN
fcis-14572	44	5			NOUN
fcis-14572	44	6			NOUN
fcis-14572	44	7			NOUN
fcis-14572	44	8			PROPN
fcis-14572	44	9			PROPN
fcis-14572	44	10			NOUN
fcis-14572	44	11			ADJ
fcis-14572	44	12			NOUN
fcis-14572	44	13			PROPN
fcis-14572	44	14			PROPN
fcis-14572	44	15			NOUN
fcis-14572	44	16			VERB
fcis-14572	44	17			PROPN
fcis-14572	44	18			NOUN
fcis-14572	44	19			NOUN
fcis-14572	44	20			NOUN
fcis-14572	44	21	(	(	PUNCT
fcis-14572	44	22	6	6	NUM
fcis-14572	44	23	)	)	PUNCT
fcis-14572	44	24	select	select	ADJ
fcis-14572	44	25	input	input	NOUN
fcis-14572	44	26	∆	∆	PROPN
fcis-14572	44	27	,	,	PUNCT
fcis-14572	44	28	system	system	NOUN
fcis-14572	44	29	state	state	NOUN
fcis-14572	44	30	variable	variable	NOUN
fcis-14572	44	31	,	,	PUNCT
fcis-14572	44	32	then	then	ADV
fcis-14572	44	33	the	the	DET
fcis-14572	44	34	general	general	ADJ
fcis-14572	44	35	form	form	NOUN
fcis-14572	44	36	of	of	ADP
fcis-14572	44	37	the	the	DET
fcis-14572	44	38	system	system	NOUN
fcis-14572	44	39	is	be	AUX
fcis-14572	44	40	:	:	PUNCT
fcis-14572	44	41	(	(	PUNCT
fcis-14572	44	42	,	,	PUNCT
fcis-14572	44	43	)	)	PUNCT
fcis-14572	45	1	x	x	SYM
fcis-14572	45	2	f	f	X
fcis-14572	45	3	x	x	SYM
fcis-14572	45	4	u	u	NOUN
fcis-14572	45	5	(	(	PUNCT
fcis-14572	45	6	7	7	NUM
fcis-14572	45	7	)	)	PUNCT
fcis-14572	45	8	the	the	DET
fcis-14572	45	9	reference	reference	NOUN
fcis-14572	45	10	trajectory	trajectory	NOUN
fcis-14572	45	11	of	of	ADP
fcis-14572	45	12	the	the	DET
fcis-14572	45	13	unmanned	unmanned	ADJ
fcis-14572	45	14	two	two	NUM
fcis-14572	45	15	-	-	PUNCT
fcis-14572	45	16	wheeler	wheeler	NOUN
fcis-14572	45	17	is	be	AUX
fcis-14572	45	18	determined	determine	VERB
fcis-14572	45	19	,	,	PUNCT
fcis-14572	45	20	and	and	CCONJ
fcis-14572	45	21	assuming	assume	VERB
fcis-14572	45	22	that	that	SCONJ
fcis-14572	45	23	every	every	DET
fcis-14572	45	24	point	point	NOUN
fcis-14572	45	25	on	on	ADP
fcis-14572	45	26	the	the	DET
fcis-14572	45	27	reference	reference	NOUN
fcis-14572	45	28	trajectory	trajectory	NOUN
fcis-14572	45	29	satisfies	satisfy	VERB
fcis-14572	45	30	the	the	DET
fcis-14572	45	31	vehicle	vehicle	NOUN
fcis-14572	45	32	kinematics	kinematic	NOUN
fcis-14572	45	33	equation	equation	NOUN
fcis-14572	45	34	,	,	PUNCT
fcis-14572	45	35	it	it	PRON
fcis-14572	45	36	can	can	AUX
fcis-14572	45	37	be	be	AUX
fcis-14572	45	38	expressed	express	VERB
fcis-14572	45	39	as	as	ADP
fcis-14572	45	40	:	:	PUNCT
fcis-14572	45	41	(	(	PUNCT
fcis-14572	45	42	,	,	PUNCT
fcis-14572	45	43	)	)	PUNCT
fcis-14572	46	1	ref	ref	NOUN
fcis-14572	46	2	ref	ref	NOUN
fcis-14572	46	3	refx	refx	PROPN
fcis-14572	46	4	f	f	PROPN
fcis-14572	47	1	x	x	X
fcis-14572	47	2	u	u	NOUN
fcis-14572	47	3	(	(	PUNCT
fcis-14572	47	4	8)	8)	NUM
fcis-14572	47	5	;	;	PUNCT
fcis-14572	47	6	∆	∆	PROPN
fcis-14572	47	7	;	;	PUNCT
fcis-14572	47	8	represents	represent	VERB
fcis-14572	47	9	the	the	DET
fcis-14572	47	10	track	track	NOUN
fcis-14572	47	11	reference	reference	NOUN
fcis-14572	47	12	.	.	PUNCT
fcis-14572	48	1	by	by	ADP
fcis-14572	48	2	expanding	expand	VERB
fcis-14572	48	3	the	the	DET
fcis-14572	48	4	taylor	taylor	PROPN
fcis-14572	48	5	series	series	NOUN
fcis-14572	48	6	of	of	ADP
fcis-14572	48	7	formula	formula	NOUN
fcis-14572	48	8	8	8	NUM
fcis-14572	48	9	and	and	CCONJ
fcis-14572	48	10	ignoring	ignore	VERB
fcis-14572	48	11	the	the	DET
fcis-14572	48	12	higher	high	ADJ
fcis-14572	48	13	order	order	NOUN
fcis-14572	48	14	terms	term	NOUN
fcis-14572	48	15	,	,	PUNCT
fcis-14572	48	16	we	we	PRON
fcis-14572	48	17	get	get	VERB
fcis-14572	48	18	:	:	PUNCT
fcis-14572	48	19	(	(	PUNCT
fcis-14572	48	20	,	,	PUNCT
fcis-14572	48	21	)	)	PUNCT
fcis-14572	48	22	(	(	PUNCT
fcis-14572	48	23	,	,	PUNCT
fcis-14572	48	24	)	)	PUNCT
fcis-14572	49	1	|	|	ADV
fcis-14572	49	2	(	(	PUNCT
fcis-14572	49	3	)	)	PUNCT
fcis-14572	49	4	(	(	PUNCT
fcis-14572	49	5	,	,	PUNCT
fcis-14572	49	6	)	)	PUNCT
fcis-14572	49	7	|	|	ADV
fcis-14572	49	8	(	(	PUNCT
fcis-14572	49	9	)	)	PUNCT
fcis-14572	49	10	ref	ref	NOUN
fcis-14572	49	11	ref	ref	NOUN
fcis-14572	49	12	ref	ref	NOUN
fcis-14572	49	13	ref	ref	NOUN
fcis-14572	50	1	f	f	NOUN
fcis-14572	50	2	x	x	SYM
fcis-14572	50	3	u	u	VERB
fcis-14572	50	4	x	x	X
fcis-14572	50	5	f	f	NOUN
fcis-14572	50	6	x	x	SYM
fcis-14572	50	7	u	u	NOUN
fcis-14572	50	8	x	x	NOUN
fcis-14572	50	9	x	x	PUNCT
fcis-14572	50	10	x	x	X
fcis-14572	50	11	f	f	X
fcis-14572	50	12	x	x	SYM
fcis-14572	50	13	u	u	VERB
fcis-14572	50	14	u	u	X
fcis-14572	50	15	u	u	X
fcis-14572	50	16	u	u	NOUN
fcis-14572	50	17			PROPN
fcis-14572	50	18			PROPN
fcis-14572	50	19			ADJ
fcis-14572	50	20			PROPN
fcis-14572	50	21			PROPN
fcis-14572	50	22			PROPN
fcis-14572	50	23			ADJ
fcis-14572	50	24			PROPN
fcis-14572	50	25			ADJ
fcis-14572	50	26			NOUN
fcis-14572	50	27	(	(	PUNCT
fcis-14572	50	28	9	9	NUM
fcis-14572	50	29	)	)	PUNCT
fcis-14572	50	30	subtract	subtract	NOUN
fcis-14572	50	31	formula	formula	NOUN
fcis-14572	50	32	9	9	NUM
fcis-14572	50	33	from	from	ADP
fcis-14572	50	34	formula	formula	NOUN
fcis-14572	50	35	8	8	NUM
fcis-14572	50	36	to	to	PART
fcis-14572	50	37	get	get	VERB
fcis-14572	50	38	a	a	DET
fcis-14572	50	39	linearized	linearize	VERB
fcis-14572	50	40	kinematic	kinematic	NOUN
fcis-14572	50	41	error	error	NOUN
fcis-14572	50	42	model	model	NOUN
fcis-14572	50	43	:	:	PUNCT
fcis-14572	50	44	0	0	NUM
fcis-14572	50	45	0	0	NUM
fcis-14572	50	46	sin	sin	NOUN
fcis-14572	50	47	0	0	NUM
fcis-14572	50	48	0	0	PUNCT
fcis-14572	50	49	cos	cos	NOUN
fcis-14572	50	50	0	0	NUM
fcis-14572	50	51	0	0	NUM
fcis-14572	50	52	0	0	NUM
fcis-14572	51	1	ref	ref	NOUN
fcis-14572	51	2	ref	ref	NOUN
fcis-14572	51	3	ref	ref	NOUN
fcis-14572	51	4	ref	ref	NOUN
fcis-14572	51	5	ref	ref	NOUN
fcis-14572	52	1	ref	ref	NOUN
fcis-14572	53	1	ref	ref	NOUN
fcis-14572	54	1	ref	ref	NOUN
fcis-14572	55	1	ref	ref	NOUN
fcis-14572	56	1	ref	ref	NOUN
fcis-14572	57	1	x	x	SYM
fcis-14572	58	1	x	x	SYM
fcis-14572	58	2	v	v	X
fcis-14572	58	3	x	x	SYM
fcis-14572	58	4	x	x	X
fcis-14572	58	5	e	e	NOUN
fcis-14572	58	6	y	y	PROPN
fcis-14572	58	7	y	y	PROPN
fcis-14572	58	8	v	v	INTJ
fcis-14572	58	9	y	y	PROPN
fcis-14572	58	10	y	y	PROPN
fcis-14572	59	1			NOUN
fcis-14572	59	2			INTJ
fcis-14572	60	1			NOUN
fcis-14572	60	2			NOUN
fcis-14572	61	1			NOUN
fcis-14572	62	1			NOUN
fcis-14572	63	1			PROPN
fcis-14572	63	2			ADJ
fcis-14572	63	3			PROPN
fcis-14572	63	4			PROPN
fcis-14572	63	5			PROPN
fcis-14572	63	6			NOUN
fcis-14572	63	7			NOUN
fcis-14572	63	8			NOUN
fcis-14572	63	9			NOUN
fcis-14572	63	10			NOUN
fcis-14572	63	11			PROPN
fcis-14572	63	12			PROPN
fcis-14572	63	13			PROPN
fcis-14572	63	14			PROPN
fcis-14572	63	15			PROPN
fcis-14572	63	16			PROPN
fcis-14572	63	17			NOUN
fcis-14572	63	18			NOUN
fcis-14572	63	19			PROPN
fcis-14572	63	20			NOUN
fcis-14572	63	21			NOUN
fcis-14572	63	22			NOUN
fcis-14572	63	23			NOUN
fcis-14572	63	24			NOUN
fcis-14572	63	25			NOUN
fcis-14572	63	26			PROPN
fcis-14572	63	27			VERB
fcis-14572	63	28			ADJ
fcis-14572	63	29			PROPN
fcis-14572	63	30			NOUN
fcis-14572	63	31			NOUN
fcis-14572	63	32			NOUN
fcis-14572	63	33	2	2	NUM
fcis-14572	63	34	cos	cos	NOUN
fcis-14572	63	35	0	0	PROPN
fcis-14572	63	36	sin	sin	NOUN
fcis-14572	63	37	0	0	NUM
fcis-14572	63	38	tan	tan	PROPN
fcis-14572	64	1	cos	cos	INTJ
fcis-14572	64	2	ref	ref	PROPN
fcis-14572	64	3	r	r	NOUN
fcis-14572	64	4	ref	ref	NOUN
fcis-14572	64	5	ref	ref	NOUN
fcis-14572	64	6	ref	ref	NOUN
fcis-14572	64	7	ref	ref	NOUN
fcis-14572	64	8	ref	ref	NOUN
fcis-14572	64	9	ref	ref	NOUN
fcis-14572	64	10	v	v	NOUN
fcis-14572	64	11	v	v	NOUN
fcis-14572	64	12	v	v	NOUN
fcis-14572	64	13	l	l	NOUN
fcis-14572	64	14	l	l	NOUN
fcis-14572	64	15			NOUN
fcis-14572	65	1			NOUN
fcis-14572	65	2			PROPN
fcis-14572	65	3			ADJ
fcis-14572	65	4			NOUN
fcis-14572	65	5			ADJ
fcis-14572	65	6			NOUN
fcis-14572	65	7			NOUN
fcis-14572	65	8			NOUN
fcis-14572	65	9			ADV
fcis-14572	65	10			NOUN
fcis-14572	65	11			NOUN
fcis-14572	65	12			VERB
fcis-14572	65	13			PRON
fcis-14572	65	14			NOUN
fcis-14572	65	15			VERB
fcis-14572	65	16			PROPN
fcis-14572	65	17			PROPN
fcis-14572	65	18			NOUN
fcis-14572	65	19			NOUN
fcis-14572	65	20			PROPN
fcis-14572	65	21	(	(	PUNCT
fcis-14572	65	22	10	10	NUM
fcis-14572	65	23	)	)	PUNCT
fcis-14572	65	24	at	at	ADP
fcis-14572	65	25	this	this	DET
fcis-14572	65	26	time	time	NOUN
fcis-14572	65	27	,	,	PUNCT
fcis-14572	65	28	the	the	DET
fcis-14572	65	29	controlled	control	VERB
fcis-14572	65	30	quantity	quantity	NOUN
fcis-14572	65	31	is	be	AUX
fcis-14572	65	32	the	the	DET
fcis-14572	65	33	error	error	NOUN
fcis-14572	65	34	between	between	ADP
fcis-14572	65	35	the	the	DET
fcis-14572	65	36	real	real	ADJ
fcis-14572	65	37	-	-	PUNCT
fcis-14572	65	38	time	time	NOUN
fcis-14572	65	39	path	path	NOUN
fcis-14572	65	40	of	of	ADP
fcis-14572	65	41	the	the	DET
fcis-14572	65	42	two	two	NUM
fcis-14572	65	43	-	-	PUNCT
fcis-14572	65	44	wheel	wheel	NOUN
fcis-14572	65	45	vehicle	vehicle	NOUN
fcis-14572	65	46	and	and	CCONJ
fcis-14572	65	47	the	the	DET
fcis-14572	65	48	reference	reference	NOUN
fcis-14572	65	49	trajectory	trajectory	NOUN
fcis-14572	65	50	,	,	PUNCT
fcis-14572	65	51	so	so	CCONJ
fcis-14572	65	52	the	the	DET
fcis-14572	65	53	coefficient	coefficient	NOUN
fcis-14572	65	54	matrix	matrix	NOUN
fcis-14572	65	55	is	be	AUX
fcis-14572	65	56	determined	determine	VERB
fcis-14572	65	57	with	with	ADP
fcis-14572	65	58	the	the	DET
fcis-14572	65	59	target	target	NOUN
fcis-14572	65	60	trajectory	trajectory	NOUN
fcis-14572	65	61	[	[	X
fcis-14572	65	62	6	6	NUM
fcis-14572	65	63	-	-	SYM
fcis-14572	65	64	7	7	NUM
fcis-14572	65	65	]	]	PUNCT
fcis-14572	65	66	.	.	PUNCT
fcis-14572	66	1	3	3	X
fcis-14572	66	2	.	.	X
fcis-14572	66	3	model	model	PROPN
fcis-14572	66	4	predictive	predictive	ADJ
fcis-14572	66	5	controller	controller	NOUN
fcis-14572	66	6	model	model	NOUN
fcis-14572	66	7	predictive	predictive	PROPN
fcis-14572	66	8	control	control	PROPN
fcis-14572	66	9	(	(	PUNCT
fcis-14572	66	10	mpc	mpc	NOUN
fcis-14572	66	11	)	)	PUNCT
fcis-14572	66	12	estimates	estimate	VERB
fcis-14572	66	13	the	the	DET
fcis-14572	66	14	future	future	ADJ
fcis-14572	66	15	control	control	NOUN
fcis-14572	66	16	input	input	NOUN
fcis-14572	66	17	through	through	ADP
fcis-14572	66	18	the	the	DET
fcis-14572	66	19	historical	historical	ADJ
fcis-14572	66	20	state	state	NOUN
fcis-14572	66	21	quantity	quantity	NOUN
fcis-14572	66	22	to	to	PART
fcis-14572	66	23	simulate	simulate	VERB
fcis-14572	66	24	the	the	DET
fcis-14572	66	25	output	output	NOUN
fcis-14572	66	26	at	at	ADP
fcis-14572	66	27	the	the	DET
fcis-14572	66	28	next	next	ADJ
fcis-14572	66	29	moment	moment	NOUN
fcis-14572	66	30	,	,	PUNCT
fcis-14572	66	31	and	and	CCONJ
fcis-14572	66	32	solves	solve	VERB
fcis-14572	66	33	the	the	DET
fcis-14572	66	34	constrained	constrain	VERB
fcis-14572	66	35	optimization	optimization	NOUN
fcis-14572	66	36	problem	problem	NOUN
fcis-14572	66	37	on	on	ADP
fcis-14572	66	38	a	a	DET
fcis-14572	66	39	rolling	rolling	ADJ
fcis-14572	66	40	basis	basis	NOUN
fcis-14572	66	41	to	to	PART
fcis-14572	66	42	achieve	achieve	VERB
fcis-14572	66	43	real	real	ADJ
fcis-14572	66	44	-	-	PUNCT
fcis-14572	66	45	time	time	NOUN
fcis-14572	66	46	control	control	NOUN
fcis-14572	66	47	[	[	X
fcis-14572	66	48	8	8	NUM
fcis-14572	66	49	]	]	PUNCT
fcis-14572	66	50	.	.	PUNCT
fcis-14572	67	1	model	model	PROPN
fcis-14572	67	2	predictive	predictive	PROPN
fcis-14572	67	3	control	control	NOUN
fcis-14572	67	4	is	be	AUX
fcis-14572	67	5	composed	compose	VERB
fcis-14572	67	6	of	of	ADP
fcis-14572	67	7	model	model	NOUN
fcis-14572	67	8	prediction	prediction	NOUN
fcis-14572	67	9	,	,	PUNCT
fcis-14572	67	10	rolling	roll	VERB
fcis-14572	67	11	optimization	optimization	NOUN
fcis-14572	67	12	and	and	CCONJ
fcis-14572	67	13	feedback	feedback	NOUN
fcis-14572	67	14	correction	correction	NOUN
fcis-14572	67	15	.	.	PUNCT
fcis-14572	68	1	formula	formula	NOUN
fcis-14572	68	2	10	10	NUM
fcis-14572	68	3	belongs	belong	VERB
fcis-14572	68	4	to	to	ADP
fcis-14572	68	5	the	the	DET
fcis-14572	68	6	continuous	continuous	ADJ
fcis-14572	68	7	equation	equation	NOUN
fcis-14572	68	8	of	of	ADP
fcis-14572	68	9	state	state	NOUN
fcis-14572	68	10	,	,	PUNCT
fcis-14572	68	11	and	and	CCONJ
fcis-14572	68	12	it	it	PRON
fcis-14572	68	13	needs	need	VERB
fcis-14572	68	14	to	to	PART
fcis-14572	68	15	be	be	AUX
fcis-14572	68	16	discretized	discretize	VERB
fcis-14572	68	17	before	before	ADP
fcis-14572	68	18	model	model	NOUN
fcis-14572	68	19	predictive	predictive	ADJ
fcis-14572	68	20	control	control	NOUN
fcis-14572	69	1	[	[	X
fcis-14572	69	2	9	9	NUM
fcis-14572	69	3	]	]	PUNCT
fcis-14572	69	4	:	:	PUNCT
fcis-14572	69	5	(	(	PUNCT
fcis-14572	69	6	1	1	X
fcis-14572	69	7	)	)	PUNCT
fcis-14572	69	8	(	(	PUNCT
fcis-14572	69	9	)	)	PUNCT
fcis-14572	69	10	e	e	X
fcis-14572	69	11	k	k	NOUN
fcis-14572	69	12	e	e	PROPN
fcis-14572	69	13	k	k	PROPN
fcis-14572	69	14	e	e	PROPN
fcis-14572	69	15	ae	ae	PROPN
fcis-14572	69	16	bu	bu	PROPN
fcis-14572	69	17	t	t	PROPN
fcis-14572	69	18			VERB
fcis-14572	69	19			PROPN
fcis-14572	69	20			PROPN
fcis-14572	69	21			ADJ
fcis-14572	69	22			NOUN
fcis-14572	69	23			NOUN
fcis-14572	69	24	(	(	PUNCT
fcis-14572	69	25	11	11	NUM
fcis-14572	69	26	)	)	PUNCT
fcis-14572	69	27	collation	collation	NOUN
fcis-14572	69	28	available	available	ADJ
fcis-14572	69	29	:	:	PUNCT
fcis-14572	69	30	2	2	NUM
fcis-14572	69	31	,	,	PUNCT
fcis-14572	69	32	,	,	PUNCT
fcis-14572	69	33	1	1	NUM
fcis-14572	69	34	0	0	NUM
fcis-14572	69	35	sin	sin	NOUN
fcis-14572	69	36	(	(	PUNCT
fcis-14572	69	37	1	1	NUM
fcis-14572	69	38	)	)	PUNCT
fcis-14572	69	39	0	0	NUM
fcis-14572	69	40	1	1	NUM
fcis-14572	69	41	cos	cos	PROPN
fcis-14572	69	42	(	(	PUNCT
fcis-14572	69	43	)	)	PUNCT
fcis-14572	69	44	0	0	NUM
fcis-14572	69	45	0	0	NUM
fcis-14572	69	46	1	1	NUM
fcis-14572	69	47	cos	cos	NOUN
fcis-14572	69	48	0	0	NUM
fcis-14572	69	49	sin	sin	NOUN
fcis-14572	69	50	0	0	NUM
fcis-14572	69	51	(	(	PUNCT
fcis-14572	69	52	)	)	PUNCT
fcis-14572	69	53	tan	tan	PROPN
fcis-14572	69	54	cos	cos	PROPN
fcis-14572	69	55	(	(	PUNCT
fcis-14572	69	56	)	)	PUNCT
fcis-14572	69	57	(	(	PUNCT
fcis-14572	69	58	)	)	PUNCT
fcis-14572	69	59	ref	ref	NOUN
fcis-14572	70	1	ref	ref	NOUN
fcis-14572	70	2	ref	ref	NOUN
fcis-14572	70	3	ref	ref	NOUN
fcis-14572	70	4	ref	ref	NOUN
fcis-14572	71	1	ref	ref	NOUN
fcis-14572	72	1	ref	ref	NOUN
fcis-14572	73	1	ref	ref	NOUN
fcis-14572	74	1	ref	ref	NOUN
fcis-14572	75	1	k	k	PROPN
fcis-14572	75	2	t	t	PROPN
fcis-14572	75	3	k	k	PROPN
fcis-14572	75	4	t	t	PROPN
fcis-14572	75	5	tv	tv	NOUN
fcis-14572	75	6	e	e	X
fcis-14572	75	7	k	k	PROPN
fcis-14572	75	8	tv	tv	PROPN
fcis-14572	75	9	e	e	PROPN
fcis-14572	75	10	k	k	PROPN
fcis-14572	75	11	t	t	PROPN
fcis-14572	75	12	t	t	PROPN
fcis-14572	75	13	u	u	X
fcis-14572	76	1	k	k	PROPN
fcis-14572	77	1	v	v	INTJ
fcis-14572	77	2	t	t	PROPN
fcis-14572	77	3	t	t	PROPN
fcis-14572	77	4	l	l	PROPN
fcis-14572	77	5	l	l	NOUN
fcis-14572	77	6	a	a	X
fcis-14572	77	7	e	e	NOUN
fcis-14572	77	8	t	t	PROPN
fcis-14572	77	9	b	b	X
fcis-14572	77	10	u	u	X
fcis-14572	77	11	k	k	PROPN
fcis-14572	78	1			NOUN
fcis-14572	78	2			INTJ
fcis-14572	79	1			NOUN
fcis-14572	79	2			NOUN
fcis-14572	79	3			NOUN
fcis-14572	79	4			VERB
fcis-14572	79	5			X
fcis-14572	79	6			ADV
fcis-14572	79	7			NUM
fcis-14572	79	8			NOUN
fcis-14572	79	9			NOUN
fcis-14572	79	10			NOUN
fcis-14572	79	11			PROPN
fcis-14572	79	12			PROPN
fcis-14572	79	13			PROPN
fcis-14572	79	14			ADJ
fcis-14572	79	15			NOUN
fcis-14572	79	16			PROPN
fcis-14572	79	17			NOUN
fcis-14572	79	18			NOUN
fcis-14572	79	19			NOUN
fcis-14572	79	20			NOUN
fcis-14572	79	21			NOUN
fcis-14572	79	22			PROPN
fcis-14572	79	23			X
fcis-14572	79	24			NOUN
fcis-14572	79	25			NOUN
fcis-14572	79	26			NOUN
fcis-14572	79	27			PROPN
fcis-14572	79	28			PROPN
fcis-14572	79	29			ADJ
fcis-14572	79	30			NOUN
fcis-14572	79	31			NOUN
fcis-14572	79	32			X
fcis-14572	79	33			PROPN
fcis-14572	79	34			NOUN
fcis-14572	79	35	(	(	PUNCT
fcis-14572	79	36	12	12	NUM
fcis-14572	79	37	)	)	PUNCT
fcis-14572	79	38	is	be	AUX
fcis-14572	79	39	sampling	sample	VERB
fcis-14572	79	40	time	time	NOUN
fcis-14572	79	41	.	.	PUNCT
fcis-14572	80	1	the	the	DET
fcis-14572	80	2	discretized	discretized	ADJ
fcis-14572	80	3	state	state	NOUN
fcis-14572	80	4	space	space	NOUN
fcis-14572	80	5	is	be	AUX
fcis-14572	80	6	transformed	transform	VERB
fcis-14572	80	7	again	again	ADV
fcis-14572	80	8	to	to	PART
fcis-14572	80	9	constrain	constrain	VERB
fcis-14572	80	10	the	the	DET
fcis-14572	80	11	controller	controller	NOUN
fcis-14572	80	12	output	output	NOUN
fcis-14572	80	13	:	:	PUNCT
fcis-14572	80	14	(	(	PUNCT
fcis-14572	80	15	,	,	PUNCT
fcis-14572	80	16	)	)	PUNCT
fcis-14572	80	17	(	(	PUNCT
fcis-14572	80	18	,	,	PUNCT
fcis-14572	80	19	)	)	PUNCT
fcis-14572	80	20	(	(	PUNCT
fcis-14572	80	21	1	1	NUM
fcis-14572	80	22	,	,	PUNCT
fcis-14572	80	23	)	)	PUNCT
fcis-14572	81	1	k	k	PROPN
fcis-14572	81	2	t	t	PROPN
fcis-14572	81	3	e	e	X
fcis-14572	81	4	k	k	PROPN
fcis-14572	81	5	t	t	PROPN
fcis-14572	81	6	u	u	X
fcis-14572	81	7	k	k	PROPN
fcis-14572	81	8	t	t	PROPN
fcis-14572	81	9			PROPN
fcis-14572	81	10			NUM
fcis-14572	81	11			NOUN
fcis-14572	81	12			PROPN
fcis-14572	81	13			NOUN
fcis-14572	81	14			PROPN
fcis-14572	81	15			PROPN
fcis-14572	81	16			NOUN
fcis-14572	81	17			NOUN
fcis-14572	81	18	(	(	PUNCT
fcis-14572	81	19	13	13	NUM
fcis-14572	81	20	)	)	PUNCT
fcis-14572	81	21	sort	sort	VERB
fcis-14572	81	22	out	out	ADP
fcis-14572	81	23	state	state	NOUN
fcis-14572	81	24	variables	variable	NOUN
fcis-14572	81	25	and	and	CCONJ
fcis-14572	81	26	control	control	VERB
fcis-14572	81	27	variable	variable	ADJ
fcis-14572	81	28	increments	increment	NOUN
fcis-14572	81	29	to	to	PART
fcis-14572	81	30	further	far	ADV
fcis-14572	81	31	transform	transform	VERB
fcis-14572	81	32	state	state	NOUN
fcis-14572	81	33	space	space	NOUN
fcis-14572	81	34	expressions	expression	NOUN
fcis-14572	81	35	:	:	PUNCT
fcis-14572	81	36	(	(	PUNCT
fcis-14572	81	37	1	1	NUM
fcis-14572	81	38	,	,	PUNCT
fcis-14572	81	39	)	)	PUNCT
fcis-14572	81	40	,	,	PUNCT
fcis-14572	81	41	(	(	PUNCT
fcis-14572	81	42	,	,	PUNCT
fcis-14572	81	43	)	)	PUNCT
fcis-14572	81	44	,	,	PUNCT
fcis-14572	81	45	,	,	PUNCT
fcis-14572	81	46	(	(	PUNCT
fcis-14572	81	47	,	,	PUNCT
fcis-14572	81	48	)	)	PUNCT
fcis-14572	81	49	(	(	PUNCT
fcis-14572	81	50	,	,	PUNCT
fcis-14572	81	51	)	)	PUNCT
fcis-14572	81	52	(	(	PUNCT
fcis-14572	81	53	,	,	PUNCT
fcis-14572	81	54	)	)	PUNCT
fcis-14572	82	1	k	k	PROPN
fcis-14572	82	2	t	t	PROPN
fcis-14572	83	1	k	k	PROPN
fcis-14572	83	2	t	t	PROPN
fcis-14572	84	1	k	k	PROPN
fcis-14572	84	2	t	t	PROPN
fcis-14572	85	1	k	k	PROPN
fcis-14572	85	2	t	t	PROPN
fcis-14572	86	1	k	k	PROPN
fcis-14572	86	2	t	t	PROPN
fcis-14572	86	3	k	k	PROPN
fcis-14572	86	4	t	t	PROPN
fcis-14572	86	5	a	a	DET
fcis-14572	86	6	b	b	X
fcis-14572	86	7	u	u	X
fcis-14572	86	8	k	k	PROPN
fcis-14572	86	9	t	t	PROPN
fcis-14572	86	10	k	k	PROPN
fcis-14572	86	11	t	t	PROPN
fcis-14572	87	1	c	c	NOUN
fcis-14572	87	2			NOUN
fcis-14572	87	3			NOUN
fcis-14572	87	4			NUM
fcis-14572	87	5			NOUN
fcis-14572	87	6			ADV
fcis-14572	87	7			PROPN
fcis-14572	87	8			PUNCT
fcis-14572	87	9			PUNCT
fcis-14572	87	10			NUM
fcis-14572	87	11			NOUN
fcis-14572	87	12			PROPN
fcis-14572	87	13			X
fcis-14572	87	14			PROPN
fcis-14572	87	15	(	(	PUNCT
fcis-14572	87	16	14	14	NUM
fcis-14572	87	17	)	)	PUNCT
fcis-14572	87	18	the	the	DET
fcis-14572	87	19	coefficient	coefficient	NOUN
fcis-14572	87	20	matrix	matrix	NOUN
fcis-14572	87	21	of	of	ADP
fcis-14572	87	22	state	state	NOUN
fcis-14572	87	23	quantity	quantity	NOUN
fcis-14572	87	24	and	and	CCONJ
fcis-14572	87	25	the	the	DET
fcis-14572	87	26	control	control	NOUN
fcis-14572	87	27	quantity	quantity	NOUN
fcis-14572	87	28	is	be	AUX
fcis-14572	87	29	shown	show	VERB
fcis-14572	87	30	as	as	SCONJ
fcis-14572	87	31	follows	follow	VERB
fcis-14572	87	32	:	:	PUNCT
fcis-14572	87	33	,	,	PUNCT
fcis-14572	87	34	,	,	PUNCT
fcis-14572	87	35	,	,	PUNCT
fcis-14572	87	36	0	0	NUM
fcis-14572	87	37	1	1	NUM
fcis-14572	87	38	k	k	NOUN
fcis-14572	87	39	t	t	PROPN
fcis-14572	88	1	k	k	PROPN
fcis-14572	88	2	t	t	PROPN
fcis-14572	88	3	k	k	PROPN
fcis-14572	88	4	t	t	PROPN
fcis-14572	88	5	a	a	DET
fcis-14572	88	6	b	b	PROPN
fcis-14572	88	7	a	a	DET
fcis-14572	88	8			PROPN
fcis-14572	88	9			NOUN
fcis-14572	88	10			PROPN
fcis-14572	88	11			NOUN
fcis-14572	88	12			NOUN
fcis-14572	88	13			NOUN
fcis-14572	88	14			PROPN
fcis-14572	88	15			NOUN
fcis-14572	88	16			VERB
fcis-14572	88	17	,	,	PUNCT
fcis-14572	88	18	,	,	PUNCT
fcis-14572	88	19	,	,	PUNCT
fcis-14572	89	1	1	1	X
fcis-14572	89	2	k	k	NOUN
fcis-14572	89	3	t	t	PROPN
fcis-14572	89	4	k	k	PROPN
fcis-14572	90	1	t	t	PROPN
fcis-14572	90	2	b	b	PROPN
fcis-14572	90	3	b	b	PROPN
fcis-14572	90	4			PROPN
fcis-14572	90	5			NOUN
fcis-14572	90	6			PROPN
fcis-14572	90	7			NOUN
fcis-14572	90	8			NOUN
fcis-14572	90	9			NOUN
fcis-14572	90	10			PROPN
fcis-14572	90	11			VERB
fcis-14572	90	12	;	;	PUNCT
fcis-14572	90	13	,	,	PUNCT
fcis-14572	90	14	,	,	PUNCT
fcis-14572	90	15	0k	0k	NOUN
fcis-14572	90	16	t	t	PROPN
fcis-14572	90	17	k	k	PROPN
fcis-14572	90	18	tc	tc	NUM
fcis-14572	90	19	c	c	PROPN
fcis-14572	90	20			PROPN
fcis-14572	90	21			VERB
fcis-14572	90	22			PROPN
fcis-14572	90	23			PROPN
fcis-14572	90	24			NOUN
fcis-14572	90	25	for	for	ADP
fcis-14572	90	26	ease	ease	NOUN
fcis-14572	90	27	of	of	ADP
fcis-14572	90	28	expression	expression	NOUN
fcis-14572	90	29	,	,	PUNCT
fcis-14572	90	30	let	let	VERB
fcis-14572	90	31	:	:	PUNCT
fcis-14572	90	32	,	,	PUNCT
fcis-14572	90	33	,	,	PUNCT
fcis-14572	90	34	,	,	PUNCT
fcis-14572	90	35	,	,	PUNCT
fcis-14572	90	36	,	,	PUNCT
fcis-14572	90	37	,	,	PUNCT
fcis-14572	90	38	,	,	PUNCT
fcis-14572	90	39	1	1	NUM
fcis-14572	90	40	,	,	PUNCT
fcis-14572	90	41	,	,	PUNCT
fcis-14572	90	42	1	1	NUM
fcis-14572	90	43	,	,	PUNCT
fcis-14572	90	44	1	1	NUM
fcis-14572	90	45	,	,	PUNCT
fcis-14572	90	46	,	,	PUNCT
fcis-14572	90	47	1	1	NUM
fcis-14572	90	48	,	,	PUNCT
fcis-14572	90	49	1	1	NUM
fcis-14572	90	50	,	,	PUNCT
fcis-14572	90	51	,	,	PUNCT
fcis-14572	91	1	1	1	NUM
fcis-14572	91	2	k	k	NOUN
fcis-14572	91	3	t	t	PROPN
fcis-14572	91	4	t	t	PROPN
fcis-14572	91	5	t	t	PROPN
fcis-14572	91	6	k	k	PROPN
fcis-14572	91	7	t	t	PROPN
fcis-14572	91	8	t	t	PROPN
fcis-14572	91	9	t	t	PROPN
fcis-14572	91	10	k	k	PROPN
fcis-14572	91	11	t	t	PROPN
fcis-14572	91	12	t	t	PROPN
fcis-14572	91	13	t	t	PROPN
fcis-14572	91	14	a	a	PRON
fcis-14572	91	15	a	a	DET
fcis-14572	91	16	k	k	PROPN
fcis-14572	91	17	t	t	PROPN
fcis-14572	92	1	n	n	PROPN
fcis-14572	92	2	b	b	PROPN
fcis-14572	92	3	b	b	PROPN
fcis-14572	92	4	k	k	PROPN
fcis-14572	92	5	t	t	PROPN
fcis-14572	92	6	n	n	INTJ
fcis-14572	92	7	c	c	NOUN
fcis-14572	92	8	c	c	PROPN
fcis-14572	92	9	k	k	PROPN
fcis-14572	92	10	t	t	PROPN
fcis-14572	93	1	n	n	CCONJ
fcis-14572	93	2			PROPN
fcis-14572	93	3			PROPN
fcis-14572	93	4			ADV
fcis-14572	93	5			PROPN
fcis-14572	93	6			PROPN
fcis-14572	93	7			PROPN
fcis-14572	93	8			ADV
fcis-14572	93	9			PROPN
fcis-14572	93	10			PROPN
fcis-14572	93	11			PROPN
fcis-14572	93	12			ADV
fcis-14572	93	13			PROPN
fcis-14572	93	14			PROPN
fcis-14572	93	15			ADJ
fcis-14572	93	16			NOUN
fcis-14572	93	17			PROPN
fcis-14572	93	18			NOUN
fcis-14572	93	19			NOUN
fcis-14572	93	20			PROPN
fcis-14572	93	21			NOUN
fcis-14572	93	22			NOUN
fcis-14572	93	23	(	(	PUNCT
fcis-14572	93	24	15	15	NUM
fcis-14572	93	25	)	)	PUNCT
fcis-14572	93	26	suppose	suppose	VERB
fcis-14572	93	27	that	that	SCONJ
fcis-14572	93	28	the	the	DET
fcis-14572	93	29	prediction	prediction	NOUN
fcis-14572	93	30	time	time	NOUN
fcis-14572	93	31	domain	domain	NOUN
fcis-14572	93	32	is	be	AUX
fcis-14572	93	33	;	;	PUNCT
fcis-14572	93	34	the	the	DET
fcis-14572	93	35	control	control	NOUN
fcis-14572	93	36	time	time	NOUN
fcis-14572	93	37	domain	domain	NOUN
fcis-14572	93	38	is	be	AUX
fcis-14572	93	39	;	;	PUNCT
fcis-14572	93	40	according	accord	VERB
fcis-14572	93	41	to	to	ADP
fcis-14572	93	42	the	the	DET
fcis-14572	93	43	principle	principle	NOUN
fcis-14572	93	44	of	of	ADP
fcis-14572	93	45	model	model	NOUN
fcis-14572	93	46	predictive	predictive	PROPN
fcis-14572	93	47	control	control	PROPN
fcis-14572	93	48	algorithm	algorithm	NOUN
fcis-14572	93	49	,	,	PUNCT
fcis-14572	93	50	it	it	PRON
fcis-14572	93	51	can	can	AUX
fcis-14572	93	52	be	be	AUX
fcis-14572	93	53	obtained	obtain	VERB
fcis-14572	93	54	:	:	PUNCT
fcis-14572	93	55	(	(	PUNCT
fcis-14572	93	56	)	)	PUNCT
fcis-14572	93	57	(	(	PUNCT
fcis-14572	93	58	,	,	PUNCT
fcis-14572	93	59	)	)	PUNCT
fcis-14572	93	60	(	(	PUNCT
fcis-14572	93	61	,	,	PUNCT
fcis-14572	93	62	)	)	PUNCT
fcis-14572	93	63	t	t	NOUN
fcis-14572	94	1	ty	ty	INTJ
fcis-14572	94	2	t	t	PROPN
fcis-14572	94	3	t	t	PROPN
fcis-14572	94	4	t	t	PROPN
fcis-14572	94	5	u	u	X
fcis-14572	94	6	k	k	X
fcis-14572	94	7	t	t	X
fcis-14572	94	8			PROPN
fcis-14572	94	9	(	(	PUNCT
fcis-14572	94	10	16	16	NUM
fcis-14572	94	11	)	)	PUNCT
fcis-14572	94	12	48	48	NUM
fcis-14572	94	13	in	in	ADP
fcis-14572	94	14	model	model	NOUN
fcis-14572	94	15	predictive	predictive	PROPN
fcis-14572	94	16	control	control	PROPN
fcis-14572	94	17	,	,	PUNCT
fcis-14572	94	18	the	the	DET
fcis-14572	94	19	following	follow	VERB
fcis-14572	94	20	objective	objective	ADJ
fcis-14572	94	21	function[10	function[10	NOUN
fcis-14572	94	22	]	]	PUNCT
fcis-14572	94	23	is	be	AUX
fcis-14572	94	24	often	often	ADV
fcis-14572	94	25	used	use	VERB
fcis-14572	94	26	to	to	PART
fcis-14572	94	27	solve	solve	VERB
fcis-14572	94	28	the	the	DET
fcis-14572	94	29	optimal	optimal	ADJ
fcis-14572	94	30	solution	solution	NOUN
fcis-14572	94	31	:	:	PUNCT
fcis-14572	94	32	2	2	NUM
fcis-14572	94	33	1	1	NUM
fcis-14572	94	34	1	1	NUM
fcis-14572	94	35	2	2	NUM
fcis-14572	94	36	2	2	NUM
fcis-14572	94	37	1	1	NUM
fcis-14572	94	38	(	(	PUNCT
fcis-14572	94	39	)	)	PUNCT
fcis-14572	94	40	||	||	PROPN
fcis-14572	95	1	(	(	PUNCT
fcis-14572	95	2	,	,	PUNCT
fcis-14572	95	3	)	)	PUNCT
fcis-14572	95	4	(	(	PUNCT
fcis-14572	95	5	,	,	PUNCT
fcis-14572	95	6	)	)	PUNCT
fcis-14572	95	7	||	||	PUNCT
fcis-14572	96	1	||	||	NOUN
fcis-14572	97	1	(	(	PUNCT
fcis-14572	97	2	,	,	PUNCT
fcis-14572	97	3	)	)	PUNCT
fcis-14572	97	4	||	||	PUNCT
fcis-14572	98	1	p	p	NOUN
fcis-14572	98	2	c	c	PROPN
fcis-14572	98	3	n	n	PRON
fcis-14572	98	4	ref	ref	NOUN
fcis-14572	98	5	q	q	X
fcis-14572	98	6	i	i	PRON
fcis-14572	99	1	n	n	VERB
fcis-14572	99	2	r	r	NOUN
fcis-14572	100	1	i	i	PRON
fcis-14572	100	2	j	j	PROPN
fcis-14572	101	1	k	k	PROPN
fcis-14572	101	2	k	k	PROPN
fcis-14572	102	1	i	i	PRON
fcis-14572	102	2	t	t	X
fcis-14572	103	1	k	k	NOUN
fcis-14572	104	1	i	i	PRON
fcis-14572	104	2	t	t	VERB
fcis-14572	104	3	u	u	X
fcis-14572	105	1	k	k	PROPN
fcis-14572	106	1	i	i	PRON
fcis-14572	106	2	t	t	VERB
fcis-14572	106	3			PUNCT
fcis-14572	106	4			PRON
fcis-14572	106	5			VERB
fcis-14572	106	6			NUM
fcis-14572	106	7			NOUN
fcis-14572	106	8			PROPN
fcis-14572	106	9			PROPN
fcis-14572	106	10			ADV
fcis-14572	106	11			PROPN
fcis-14572	106	12			ADV
fcis-14572	106	13			PUNCT
fcis-14572	106	14			NOUN
fcis-14572	106	15			PROPN
fcis-14572	106	16			PUNCT
fcis-14572	106	17			X
fcis-14572	106	18			X
fcis-14572	106	19	(	(	PUNCT
fcis-14572	106	20	17	17	NUM
fcis-14572	106	21	)	)	PUNCT
fcis-14572	106	22	and	and	CCONJ
fcis-14572	106	23	are	be	AUX
fcis-14572	106	24	the	the	DET
fcis-14572	106	25	system	system	NOUN
fcis-14572	106	26	weight	weight	NOUN
fcis-14572	106	27	matrix	matrix	NOUN
fcis-14572	106	28	;	;	PUNCT
fcis-14572	106	29	is	be	AUX
fcis-14572	106	30	relaxation	relaxation	NOUN
fcis-14572	106	31	factor	factor	NOUN
fcis-14572	106	32	;	;	PUNCT
fcis-14572	106	33	is	be	AUX
fcis-14572	106	34	the	the	DET
fcis-14572	106	35	weight	weight	NOUN
fcis-14572	106	36	coefficient	coefficient	NOUN
fcis-14572	106	37	.	.	PUNCT
fcis-14572	107	1	under	under	ADP
fcis-14572	107	2	different	different	ADJ
fcis-14572	107	3	working	work	VERB
fcis-14572	107	4	conditions	condition	NOUN
fcis-14572	107	5	,	,	PUNCT
fcis-14572	107	6	the	the	DET
fcis-14572	107	7	constraints	constraint	NOUN
fcis-14572	107	8	of	of	ADP
fcis-14572	107	9	control	control	NOUN
fcis-14572	107	10	increment	increment	NOUN
fcis-14572	107	11	and	and	CCONJ
fcis-14572	107	12	control	control	NOUN
fcis-14572	107	13	quantity	quantity	NOUN
fcis-14572	107	14	are	be	AUX
fcis-14572	107	15	considered	consider	VERB
fcis-14572	107	16	,	,	PUNCT
fcis-14572	107	17	and	and	CCONJ
fcis-14572	107	18	the	the	DET
fcis-14572	107	19	constraints	constraint	NOUN
fcis-14572	107	20	are	be	AUX
fcis-14572	107	21	as	as	SCONJ
fcis-14572	107	22	follows	follow	VERB
fcis-14572	107	23	:	:	PUNCT
fcis-14572	108	1	min	min	PROPN
fcis-14572	108	2	maxt	maxt	PROPN
fcis-14572	108	3	tu	tu	PROPN
fcis-14572	108	4	a	a	DET
fcis-14572	108	5	u	u	X
fcis-14572	108	6	u	u	NOUN
fcis-14572	108	7	u	u	PROPN
fcis-14572	108	8			NUM
fcis-14572	108	9			ADV
fcis-14572	108	10			PROPN
fcis-14572	108	11	(	(	PUNCT
fcis-14572	108	12	18	18	NUM
fcis-14572	108	13	)	)	PUNCT
fcis-14572	108	14	where	where	SCONJ
fcis-14572	108	15	:	:	PUNCT
fcis-14572	108	16	:	:	PUNCT
fcis-14572	108	17	and	and	CCONJ
fcis-14572	108	18	are	be	AUX
fcis-14572	108	19	the	the	DET
fcis-14572	108	20	maximum	maximum	ADJ
fcis-14572	108	21	and	and	CCONJ
fcis-14572	108	22	minimum	minimum	ADJ
fcis-14572	108	23	values	value	NOUN
fcis-14572	108	24	of	of	ADP
fcis-14572	108	25	the	the	DET
fcis-14572	108	26	system	system	NOUN
fcis-14572	108	27	control	control	NOUN
fcis-14572	108	28	quantity	quantity	NOUN
fcis-14572	108	29	in	in	ADP
fcis-14572	108	30	the	the	DET
fcis-14572	108	31	time	time	NOUN
fcis-14572	108	32	domain	domain	NOUN
fcis-14572	108	33	.	.	PUNCT
fcis-14572	109	1	according	accord	VERB
fcis-14572	109	2	to	to	ADP
fcis-14572	109	3	the	the	DET
fcis-14572	109	4	established	establish	VERB
fcis-14572	109	5	constraints	constraint	NOUN
fcis-14572	109	6	,	,	PUNCT
fcis-14572	109	7	the	the	DET
fcis-14572	109	8	controller	controller	NOUN
fcis-14572	109	9	is	be	AUX
fcis-14572	109	10	able	able	ADJ
fcis-14572	109	11	to	to	PART
fcis-14572	109	12	transform	transform	VERB
fcis-14572	109	13	the	the	DET
fcis-14572	109	14	objective	objective	ADJ
fcis-14572	109	15	function	function	NOUN
fcis-14572	109	16	into	into	ADP
fcis-14572	109	17	a	a	DET
fcis-14572	109	18	standard	standard	ADJ
fcis-14572	109	19	quadratic	quadratic	ADJ
fcis-14572	109	20	form	form	NOUN
fcis-14572	109	21	through	through	ADP
fcis-14572	109	22	optimization	optimization	NOUN
fcis-14572	109	23	:	:	PUNCT
fcis-14572	109	24	(	(	PUNCT
fcis-14572	109	25	(	(	PUNCT
fcis-14572	109	26	)	)	PUNCT
fcis-14572	109	27	,	,	PUNCT
fcis-14572	109	28	(	(	PUNCT
fcis-14572	109	29	1	1	NUM
fcis-14572	109	30	)	)	PUNCT
fcis-14572	109	31	,	,	PUNCT
fcis-14572	109	32	(	(	PUNCT
fcis-14572	109	33	)	)	PUNCT
fcis-14572	109	34	)	)	PUNCT
fcis-14572	110	1	[	[	PUNCT
fcis-14572	110	2	(	(	PUNCT
fcis-14572	110	3	)	)	PUNCT
fcis-14572	110	4	,	,	PUNCT
fcis-14572	110	5	]	]	PUNCT
fcis-14572	110	6	[	[	PUNCT
fcis-14572	110	7	(	(	PUNCT
fcis-14572	110	8	)	)	PUNCT
fcis-14572	110	9	,	,	PUNCT
fcis-14572	110	10	]	]	PUNCT
fcis-14572	110	11	[	[	PUNCT
fcis-14572	110	12	(	(	PUNCT
fcis-14572	110	13	)	)	PUNCT
fcis-14572	110	14	,	,	PUNCT
fcis-14572	110	15	]	]	PUNCT
fcis-14572	110	16	t	t	PROPN
fcis-14572	110	17	t	t	PROPN
fcis-14572	110	18	t	t	PROPN
fcis-14572	110	19	t	t	PROPN
fcis-14572	110	20	t	t	PROPN
fcis-14572	110	21	t	t	PROPN
fcis-14572	110	22	t	t	PROPN
fcis-14572	110	23	j	j	PROPN
fcis-14572	110	24	t	t	PROPN
fcis-14572	110	25	u	u	PROPN
fcis-14572	110	26	t	t	PROPN
fcis-14572	110	27	u	u	NOUN
fcis-14572	110	28	t	t	PROPN
fcis-14572	110	29	u	u	NOUN
fcis-14572	111	1	t	t	NOUN
fcis-14572	111	2	h	h	NOUN
fcis-14572	111	3	u	u	NOUN
fcis-14572	111	4	t	t	PROPN
fcis-14572	111	5	g	g	NOUN
fcis-14572	111	6	u	u	NOUN
fcis-14572	111	7	t	t	NOUN
fcis-14572	111	8	p	p	NOUN
fcis-14572	111	9			NOUN
fcis-14572	111	10			PROPN
fcis-14572	111	11			PROPN
fcis-14572	111	12			PROPN
fcis-14572	111	13			NOUN
fcis-14572	111	14			NOUN
fcis-14572	111	15			NUM
fcis-14572	111	16			PUNCT
fcis-14572	111	17			NOUN
fcis-14572	111	18			PROPN
fcis-14572	111	19			ADJ
fcis-14572	111	20			ADJ
fcis-14572	111	21			X
fcis-14572	111	22	(	(	PUNCT
fcis-14572	111	23	19	19	NUM
fcis-14572	111	24	)	)	PUNCT
fcis-14572	111	25	and	and	CCONJ
fcis-14572	111	26	:	:	PUNCT
fcis-14572	111	27	0	0	NUM
fcis-14572	111	28	0	0	NUM
fcis-14572	112	1	t	t	NOUN
fcis-14572	112	2	t	t	PROPN
fcis-14572	112	3	t	t	PROPN
fcis-14572	112	4	t	t	PROPN
fcis-14572	112	5	q	q	NOUN
fcis-14572	112	6	r	r	NOUN
fcis-14572	112	7	h	h	NOUN
fcis-14572	112	8			ADP
fcis-14572	112	9			PROPN
fcis-14572	112	10			PROPN
fcis-14572	112	11			PROPN
fcis-14572	112	12			PUNCT
fcis-14572	112	13			NUM
fcis-14572	112	14			NOUN
fcis-14572	112	15			NOUN
fcis-14572	112	16			NOUN
fcis-14572	112	17			PROPN
fcis-14572	112	18	;	;	PUNCT
fcis-14572	112	19	2	2	NUM
fcis-14572	112	20	(	(	PUNCT
fcis-14572	112	21	)	)	PUNCT
fcis-14572	112	22	0	0	NUM
fcis-14572	112	23	t	t	NOUN
fcis-14572	112	24	t	t	X
fcis-14572	112	25	tg	tg	X
fcis-14572	112	26	e	e	PROPN
fcis-14572	112	27	t	t	PROPN
fcis-14572	112	28	q	q	X
fcis-14572	112	29			PROPN
fcis-14572	112	30			PUNCT
fcis-14572	112	31			PROPN
fcis-14572	112	32	;	;	PUNCT
fcis-14572	112	33	(	(	PUNCT
fcis-14572	112	34	)	)	PUNCT
fcis-14572	112	35	(	(	PUNCT
fcis-14572	112	36	)	)	PUNCT
fcis-14572	112	37	t	t	NOUN
fcis-14572	112	38	tp	tp	X
fcis-14572	112	39	e	e	PROPN
fcis-14572	112	40	t	t	PROPN
fcis-14572	112	41	qe	qe	PROPN
fcis-14572	112	42	t	t	PROPN
fcis-14572	112	43	is	be	AUX
fcis-14572	112	44	ths	th	NOUN
fcis-14572	112	45	predict	predict	VERB
fcis-14572	112	46	tracking	track	VERB
fcis-14572	112	47	errors	error	NOUN
fcis-14572	112	48	in	in	ADP
fcis-14572	112	49	the	the	DET
fcis-14572	112	50	time	time	NOUN
fcis-14572	112	51	domain	domain	NOUN
fcis-14572	112	52	for	for	ADP
fcis-14572	112	53	the	the	DET
fcis-14572	112	54	controller	controller	NOUN
fcis-14572	112	55	:	:	PUNCT
fcis-14572	112	56	(	(	PUNCT
fcis-14572	112	57	)	)	PUNCT
fcis-14572	112	58	(	(	PUNCT
fcis-14572	112	59	)	)	PUNCT
fcis-14572	112	60	(	(	PUNCT
fcis-14572	112	61	)	)	PUNCT
fcis-14572	112	62	refe	refe	PROPN
fcis-14572	112	63	t	t	PROPN
fcis-14572	112	64	y	y	PROPN
fcis-14572	112	65	t	t	PROPN
fcis-14572	113	1	y	y	PROPN
fcis-14572	113	2	t	t	PROPN
fcis-14572	113	3			PROPN
fcis-14572	113	4	(	(	PUNCT
fcis-14572	113	5	20	20	NUM
fcis-14572	113	6	)	)	PUNCT
fcis-14572	113	7	through	through	ADP
fcis-14572	113	8	the	the	DET
fcis-14572	113	9	algorithm	algorithm	NOUN
fcis-14572	113	10	design	design	NOUN
fcis-14572	113	11	,	,	PUNCT
fcis-14572	113	12	the	the	DET
fcis-14572	113	13	formula	formula	NOUN
fcis-14572	113	14	is	be	AUX
fcis-14572	113	15	calculated	calculate	VERB
fcis-14572	113	16	for	for	ADP
fcis-14572	113	17	each	each	DET
fcis-14572	113	18	cycle	cycle	NOUN
fcis-14572	113	19	of	of	ADP
fcis-14572	113	20	the	the	DET
fcis-14572	113	21	controller	controller	NOUN
fcis-14572	113	22	operation	operation	NOUN
fcis-14572	113	23	,	,	PUNCT
fcis-14572	113	24	and	and	CCONJ
fcis-14572	113	25	a	a	DET
fcis-14572	113	26	series	series	NOUN
fcis-14572	113	27	of	of	ADP
fcis-14572	113	28	control	control	NOUN
fcis-14572	113	29	increment	increment	NOUN
fcis-14572	113	30	sequences	sequence	NOUN
fcis-14572	113	31	are	be	AUX
fcis-14572	113	32	obtained	obtain	VERB
fcis-14572	113	33	:	:	PUNCT
fcis-14572	113	34	*	*	PUNCT
fcis-14572	114	1	*	*	PUNCT
fcis-14572	114	2	*	*	PUNCT
fcis-14572	114	3	*	*	PUNCT
fcis-14572	114	4	1	1	NUM
fcis-14572	114	5	1c	1c	NOUN
fcis-14572	114	6	t	t	NOUN
fcis-14572	114	7	t	t	PROPN
fcis-14572	114	8	t	t	PROPN
fcis-14572	114	9	t	t	PROPN
fcis-14572	114	10	t	t	PROPN
fcis-14572	114	11	nu	nu	INTJ
fcis-14572	114	12	u	u	X
fcis-14572	114	13	u	u	PROPN
fcis-14572	114	14	u	u	PROPN
fcis-14572	114	15			ADV
fcis-14572	114	16			PROPN
fcis-14572	114	17			PROPN
fcis-14572	114	18			NUM
fcis-14572	114	19			PUNCT
fcis-14572	114	20			NOUN
fcis-14572	114	21			NOUN
fcis-14572	114	22			PROPN
fcis-14572	114	23			PROPN
fcis-14572	114	24			PROPN
fcis-14572	114	25	(	(	PUNCT
fcis-14572	114	26	21	21	NUM
fcis-14572	114	27	)	)	PUNCT
fcis-14572	114	28	when	when	SCONJ
fcis-14572	114	29	the	the	DET
fcis-14572	114	30	controller	controller	NOUN
fcis-14572	114	31	is	be	AUX
fcis-14572	114	32	running	run	VERB
fcis-14572	114	33	,	,	PUNCT
fcis-14572	114	34	it	it	PRON
fcis-14572	114	35	will	will	AUX
fcis-14572	114	36	solve	solve	VERB
fcis-14572	114	37	the	the	DET
fcis-14572	114	38	optimal	optimal	ADJ
fcis-14572	114	39	control	control	NOUN
fcis-14572	114	40	increment	increment	NOUN
fcis-14572	114	41	according	accord	VERB
fcis-14572	114	42	to	to	ADP
fcis-14572	114	43	the	the	DET
fcis-14572	114	44	real	real	ADJ
fcis-14572	114	45	-	-	PUNCT
fcis-14572	114	46	time	time	NOUN
fcis-14572	114	47	state	state	NOUN
fcis-14572	114	48	of	of	ADP
fcis-14572	114	49	the	the	DET
fcis-14572	114	50	system	system	NOUN
fcis-14572	114	51	and	and	CCONJ
fcis-14572	114	52	take	take	VERB
fcis-14572	114	53	the	the	DET
fcis-14572	114	54	first	first	ADJ
fcis-14572	114	55	one	one	NUM
fcis-14572	114	56	to	to	PART
fcis-14572	114	57	enter	enter	VERB
fcis-14572	114	58	the	the	DET
fcis-14572	114	59	outer	outer	ADJ
fcis-14572	114	60	loop	loop	NOUN
fcis-14572	114	61	controller	controller	NOUN
fcis-14572	114	62	:	:	PUNCT
fcis-14572	114	63	(	(	PUNCT
fcis-14572	114	64	)	)	PUNCT
fcis-14572	114	65	(	(	PUNCT
fcis-14572	114	66	1	1	X
fcis-14572	114	67	)	)	PUNCT
fcis-14572	114	68	tu	tu	PROPN
fcis-14572	114	69	t	t	PROPN
fcis-14572	114	70	u	u	NOUN
fcis-14572	114	71	t	t	PROPN
fcis-14572	114	72	u	u	X
fcis-14572	114	73			PROPN
fcis-14572	114	74			PUNCT
fcis-14572	114	75			NOUN
fcis-14572	114	76			X
fcis-14572	114	77	(	(	PUNCT
fcis-14572	114	78	22	22	NUM
fcis-14572	114	79	)	)	PUNCT
fcis-14572	114	80	the	the	DET
fcis-14572	114	81	final	final	ADJ
fcis-14572	114	82	output	output	NOUN
fcis-14572	114	83	desired	desire	VERB
fcis-14572	114	84	motion	motion	NOUN
fcis-14572	114	85	steering	steering	NOUN
fcis-14572	114	86	angle	angle	NOUN
fcis-14572	114	87	and	and	CCONJ
fcis-14572	114	88	desired	desire	VERB
fcis-14572	114	89	rear	rear	ADJ
fcis-14572	114	90	wheel	wheel	NOUN
fcis-14572	114	91	speed	speed	NOUN
fcis-14572	114	92	are	be	AUX
fcis-14572	114	93	expressed	express	VERB
fcis-14572	114	94	by	by	ADP
fcis-14572	114	95	∆	∆	PROPN
fcis-14572	114	96	and	and	CCONJ
fcis-14572	114	97	respectively	respectively	ADV
fcis-14572	114	98	.	.	PUNCT
fcis-14572	115	1	convert	convert	VERB
fcis-14572	115	2	the	the	DET
fcis-14572	115	3	motion	motion	NOUN
fcis-14572	115	4	steering	steering	NOUN
fcis-14572	115	5	angle	angle	NOUN
fcis-14572	115	6	to	to	ADP
fcis-14572	115	7	the	the	DET
fcis-14572	115	8	rotation	rotation	NOUN
fcis-14572	115	9	angle	angle	NOUN
fcis-14572	115	10	of	of	ADP
fcis-14572	115	11	the	the	DET
fcis-14572	115	12	shaft	shaft	NOUN
fcis-14572	115	13	for	for	ADP
fcis-14572	115	14	balance	balance	NOUN
fcis-14572	115	15	control	control	NOUN
fcis-14572	115	16	:	:	PUNCT
fcis-14572	115	17	arg	arg	NOUN
fcis-14572	115	18	arg	arg	PROPN
fcis-14572	115	19	cos	cos	PROPN
fcis-14572	115	20	t	t	PROPN
fcis-14572	115	21	et	et	PROPN
fcis-14572	115	22	t	t	PROPN
fcis-14572	115	23	et	et	NOUN
fcis-14572	115	24			PROPN
fcis-14572	115	25			PUNCT
fcis-14572	116	1			NUM
fcis-14572	116	2	(	(	PUNCT
fcis-14572	116	3	23	23	NUM
fcis-14572	116	4	)	)	PUNCT
fcis-14572	116	5	the	the	DET
fcis-14572	116	6	trajectory	trajectory	NOUN
fcis-14572	116	7	tracking	track	VERB
fcis-14572	116	8	controller	controller	NOUN
fcis-14572	116	9	algorithm	algorithm	NOUN
fcis-14572	116	10	consists	consist	VERB
fcis-14572	116	11	of	of	ADP
fcis-14572	116	12	three	three	NUM
fcis-14572	116	13	parts	part	NOUN
fcis-14572	116	14	,	,	PUNCT
fcis-14572	116	15	namely	namely	ADV
fcis-14572	116	16	mpc	mpc	NOUN
fcis-14572	116	17	controller	controller	NOUN
fcis-14572	116	18	,	,	PUNCT
fcis-14572	116	19	angle	angle	NOUN
fcis-14572	116	20	loop	loop	NOUN
fcis-14572	116	21	controller	controller	NOUN
fcis-14572	116	22	and	and	CCONJ
fcis-14572	116	23	control	control	NOUN
fcis-14572	116	24	object	object	NOUN
fcis-14572	116	25	.	.	PUNCT
fcis-14572	117	1	first	first	ADV
fcis-14572	117	2	,	,	PUNCT
fcis-14572	117	3	the	the	DET
fcis-14572	117	4	sensor	sensor	NOUN
fcis-14572	117	5	sends	send	VERB
fcis-14572	117	6	the	the	DET
fcis-14572	117	7	rear	rear	ADJ
fcis-14572	117	8	wheel	wheel	NOUN
fcis-14572	117	9	speed	speed	NOUN
fcis-14572	117	10	,	,	PUNCT
fcis-14572	117	11	motion	motion	NOUN
fcis-14572	117	12	steering	steering	NOUN
fcis-14572	117	13	angle	angle	NOUN
fcis-14572	117	14	and	and	CCONJ
fcis-14572	117	15	real	real	ADJ
fcis-14572	117	16	-	-	PUNCT
fcis-14572	117	17	time	time	NOUN
fcis-14572	117	18	status	status	NOUN
fcis-14572	117	19	of	of	ADP
fcis-14572	117	20	the	the	DET
fcis-14572	117	21	two	two	NUM
fcis-14572	117	22	-	-	PUNCT
fcis-14572	117	23	wheel	wheel	NOUN
fcis-14572	117	24	vehicle	vehicle	NOUN
fcis-14572	117	25	to	to	ADP
fcis-14572	117	26	the	the	DET
fcis-14572	117	27	mpc	mpc	NOUN
fcis-14572	117	28	controller	controller	NOUN
fcis-14572	117	29	for	for	ADP
fcis-14572	117	30	error	error	NOUN
fcis-14572	117	31	solving	solving	NOUN
fcis-14572	117	32	and	and	CCONJ
fcis-14572	117	33	the	the	DET
fcis-14572	117	34	optimal	optimal	ADJ
fcis-14572	117	35	solution	solution	NOUN
fcis-14572	117	36	is	be	AUX
fcis-14572	117	37	obtained	obtain	VERB
fcis-14572	117	38	,	,	PUNCT
fcis-14572	117	39	and	and	CCONJ
fcis-14572	117	40	then	then	ADV
fcis-14572	117	41	the	the	DET
fcis-14572	117	42	rotation	rotation	NOUN
fcis-14572	117	43	angle	angle	NOUN
fcis-14572	117	44	of	of	ADP
fcis-14572	117	45	the	the	DET
fcis-14572	117	46	shaft	shaft	NOUN
fcis-14572	117	47	is	be	AUX
fcis-14572	117	48	obtained	obtain	VERB
fcis-14572	117	49	as	as	ADP
fcis-14572	117	50	the	the	DET
fcis-14572	117	51	expected	expect	VERB
fcis-14572	117	52	value	value	NOUN
fcis-14572	117	53	of	of	ADP
fcis-14572	117	54	the	the	DET
fcis-14572	117	55	angle	angle	NOUN
fcis-14572	117	56	ring	ring	NOUN
fcis-14572	117	57	controller	controller	NOUN
fcis-14572	117	58	to	to	PART
fcis-14572	117	59	complete	complete	VERB
fcis-14572	117	60	the	the	DET
fcis-14572	117	61	track	track	NOUN
fcis-14572	117	62	tracking	tracking	NOUN
fcis-14572	117	63	of	of	ADP
fcis-14572	117	64	the	the	DET
fcis-14572	117	65	unmanned	unmanned	ADJ
fcis-14572	117	66	two	two	NUM
fcis-14572	117	67	-	-	PUNCT
fcis-14572	117	68	wheel	wheel	NOUN
fcis-14572	117	69	vehicle	vehicle	NOUN
fcis-14572	117	70	.	.	PUNCT
fcis-14572	118	1	4	4	X
fcis-14572	118	2	.	.	X
fcis-14572	118	3	experimental	experimental	ADJ
fcis-14572	118	4	analysis	analysis	NOUN
fcis-14572	118	5	after	after	SCONJ
fcis-14572	118	6	the	the	DET
fcis-14572	118	7	control	control	NOUN
fcis-14572	118	8	algorithm	algorithm	NOUN
fcis-14572	118	9	is	be	AUX
fcis-14572	118	10	designed	design	VERB
fcis-14572	118	11	,	,	PUNCT
fcis-14572	118	12	a	a	DET
fcis-14572	118	13	simulation	simulation	NOUN
fcis-14572	118	14	model	model	NOUN
fcis-14572	118	15	is	be	AUX
fcis-14572	118	16	built	build	VERB
fcis-14572	118	17	in	in	ADP
fcis-14572	118	18	matlab	matlab	PROPN
fcis-14572	118	19	/	/	SYM
fcis-14572	118	20	simulink	simulink	PROPN
fcis-14572	118	21	,	,	PUNCT
fcis-14572	118	22	in	in	ADP
fcis-14572	118	23	which	which	PRON
fcis-14572	118	24	the	the	DET
fcis-14572	118	25	sampling	sampling	NOUN
fcis-14572	118	26	time	time	NOUN
fcis-14572	118	27	of	of	ADP
fcis-14572	118	28	the	the	DET
fcis-14572	118	29	simulation	simulation	NOUN
fcis-14572	118	30	model	model	NOUN
fcis-14572	118	31	prediction	prediction	NOUN
fcis-14572	118	32	controller	controller	NOUN
fcis-14572	118	33	is	be	AUX
fcis-14572	118	34	set	set	VERB
fcis-14572	118	35	to	to	ADP
fcis-14572	118	36	=	=	PROPN
fcis-14572	118	37	0.05s	0.05s	PROPN
fcis-14572	118	38	,	,	PUNCT
fcis-14572	118	39	the	the	DET
fcis-14572	118	40	simulation	simulation	NOUN
fcis-14572	118	41	control	control	PROPN
fcis-14572	118	42	time	time	NOUN
fcis-14572	118	43	domain	domain	NOUN
fcis-14572	118	44	is	be	AUX
fcis-14572	118	45	set	set	VERB
fcis-14572	118	46	to	to	ADP
fcis-14572	118	47	=	=	NOUN
fcis-14572	118	48	30	30	NUM
fcis-14572	118	49	,	,	PUNCT
fcis-14572	118	50	and	and	CCONJ
fcis-14572	118	51	the	the	DET
fcis-14572	118	52	simulation	simulation	NOUN
fcis-14572	118	53	prediction	prediction	NOUN
fcis-14572	118	54	time	time	NOUN
fcis-14572	118	55	domain	domain	NOUN
fcis-14572	118	56	is	be	AUX
fcis-14572	118	57	set	set	VERB
fcis-14572	118	58	to	to	ADP
fcis-14572	118	59	=	=	PROPN
fcis-14572	118	60	80	80	NUM
fcis-14572	118	61	.	.	PUNCT
fcis-14572	119	1	unmanned	unmanned	ADJ
fcis-14572	119	2	two	two	NUM
fcis-14572	119	3	-	-	PUNCT
fcis-14572	119	4	wheelers	wheeler	NOUN
fcis-14572	119	5	are	be	AUX
fcis-14572	119	6	sensitive	sensitive	ADJ
fcis-14572	119	7	to	to	PART
fcis-14572	119	8	wheel	wheel	VERB
fcis-14572	119	9	speed	speed	NOUN
fcis-14572	119	10	,	,	PUNCT
fcis-14572	119	11	and	and	CCONJ
fcis-14572	119	12	vehicle	vehicle	NOUN
fcis-14572	119	13	control	control	NOUN
fcis-14572	119	14	constraints	constraint	NOUN
fcis-14572	119	15	are	be	AUX
fcis-14572	119	16	set	set	VERB
fcis-14572	119	17	to	to	PART
fcis-14572	119	18	make	make	VERB
fcis-14572	119	19	the	the	DET
fcis-14572	119	20	vehicle	vehicle	NOUN
fcis-14572	119	21	run	run	VERB
fcis-14572	119	22	stably	stably	ADV
fcis-14572	119	23	:	:	PUNCT
fcis-14572	119	24	0.1	0.1	NUM
fcis-14572	119	25	/	/	SYM
fcis-14572	119	26	0.1	0.1	NUM
fcis-14572	119	27	/	/	SYM
fcis-14572	119	28	0.1	0.1	NUM
fcis-14572	119	29	/	/	SYM
fcis-14572	119	30	0.1	0.1	NUM
fcis-14572	119	31	/	/	SYM
fcis-14572	119	32	r	r	NOUN
fcis-14572	119	33	d	d	NOUN
fcis-14572	119	34	r	r	NOUN
fcis-14572	119	35	m	m	NOUN
fcis-14572	119	36	s	s	NOUN
fcis-14572	119	37	v	v	NOUN
fcis-14572	119	38	v	v	ADP
fcis-14572	119	39	m	m	NOUN
fcis-14572	119	40	s	s	NOUN
fcis-14572	119	41	m	m	NOUN
fcis-14572	119	42	s	s	NOUN
fcis-14572	119	43	v	v	ADP
fcis-14572	119	44	m	m	NOUN
fcis-14572	119	45	s	s	PART
fcis-14572	119	46			NOUN
fcis-14572	119	47			NOUN
fcis-14572	119	48			NOUN
fcis-14572	119	49			NOUN
fcis-14572	119	50			NOUN
fcis-14572	119	51			NOUN
fcis-14572	119	52			ADJ
fcis-14572	119	53			NOUN
fcis-14572	119	54	(	(	PUNCT
fcis-14572	119	55	24	24	NUM
fcis-14572	119	56	)	)	PUNCT
fcis-14572	119	57	the	the	DET
fcis-14572	119	58	steering	steering	NOUN
fcis-14572	119	59	angular	angular	ADJ
fcis-14572	119	60	speed	speed	NOUN
fcis-14572	119	61	of	of	ADP
fcis-14572	119	62	the	the	DET
fcis-14572	119	63	simulated	simulate	VERB
fcis-14572	119	64	vehicle	vehicle	NOUN
fcis-14572	119	65	is	be	AUX
fcis-14572	119	66	within	within	ADP
fcis-14572	119	67	plus	plus	CCONJ
fcis-14572	119	68	or	or	CCONJ
fcis-14572	119	69	minus	minus	CCONJ
fcis-14572	119	70	180deg	180deg	NUM
fcis-14572	119	71	/	/	SYM
fcis-14572	119	72	s	s	PROPN
fcis-14572	119	73	,	,	PUNCT
fcis-14572	119	74	the	the	DET
fcis-14572	119	75	steering	steering	NOUN
fcis-14572	119	76	angle	angle	NOUN
fcis-14572	119	77	is	be	AUX
fcis-14572	119	78	within	within	ADP
fcis-14572	119	79	plus	plus	CCONJ
fcis-14572	119	80	or	or	CCONJ
fcis-14572	119	81	minus	minus	CCONJ
fcis-14572	119	82	30	30	NUM
fcis-14572	119	83	°	°	NOUN
fcis-14572	119	84	,	,	PUNCT
fcis-14572	119	85	and	and	CCONJ
fcis-14572	119	86	the	the	DET
fcis-14572	119	87	control	control	NOUN
fcis-14572	119	88	quantity	quantity	NOUN
fcis-14572	119	89	and	and	CCONJ
fcis-14572	119	90	control	control	NOUN
fcis-14572	119	91	increment	increment	NOUN
fcis-14572	119	92	of	of	ADP
fcis-14572	119	93	the	the	DET
fcis-14572	119	94	front	front	ADJ
fcis-14572	119	95	wheel	wheel	NOUN
fcis-14572	119	96	angle	angle	NOUN
fcis-14572	119	97	are	be	AUX
fcis-14572	119	98	set	set	VERB
fcis-14572	119	99	to	to	PART
fcis-14572	119	100	stabilize	stabilize	VERB
fcis-14572	119	101	the	the	DET
fcis-14572	119	102	steering	steering	NOUN
fcis-14572	119	103	:	:	PUNCT
fcis-14572	119	104	30	30	NUM
fcis-14572	119	105	30	30	NUM
fcis-14572	119	106	0.32	0.32	NUM
fcis-14572	119	107	0.32	0.32	NUM
fcis-14572	119	108			NUM
fcis-14572	119	109			NUM
fcis-14572	119	110			NOUN
fcis-14572	119	111			NOUN
fcis-14572	119	112			NOUN
fcis-14572	119	113			NOUN
fcis-14572	119	114			VERB
fcis-14572	119	115			PROPN
fcis-14572	119	116			NOUN
fcis-14572	119	117			NOUN
fcis-14572	119	118			NOUN
fcis-14572	119	119			NUM
fcis-14572	119	120			NOUN
fcis-14572	119	121	(	(	PUNCT
fcis-14572	119	122	25	25	NUM
fcis-14572	119	123	)	)	PUNCT
fcis-14572	119	124	4.1	4.1	NUM
fcis-14572	119	125	.	.	PUNCT
fcis-14572	120	1	circular	circular	ADJ
fcis-14572	120	2	trajectory	trajectory	NOUN
fcis-14572	120	3	tracking	tracking	NOUN
fcis-14572	120	4	test	test	NOUN
fcis-14572	120	5	considering	consider	VERB
fcis-14572	120	6	the	the	DET
fcis-14572	120	7	trajectory	trajectory	NOUN
fcis-14572	120	8	tracking	track	VERB
fcis-14572	120	9	stability	stability	NOUN
fcis-14572	120	10	of	of	ADP
fcis-14572	120	11	unmanned	unmanned	ADJ
fcis-14572	120	12	two	two	NUM
fcis-14572	120	13	-	-	PUNCT
fcis-14572	120	14	wheelers	wheeler	NOUN
fcis-14572	120	15	in	in	ADP
fcis-14572	120	16	the	the	DET
fcis-14572	120	17	steering	steering	NOUN
fcis-14572	120	18	state	state	NOUN
fcis-14572	120	19	[	[	X
fcis-14572	120	20	11	11	NUM
fcis-14572	120	21	]	]	PUNCT
fcis-14572	120	22	,	,	PUNCT
fcis-14572	120	23	the	the	DET
fcis-14572	120	24	simulation	simulation	NOUN
fcis-14572	120	25	time	time	NOUN
fcis-14572	120	26	is	be	AUX
fcis-14572	120	27	set	set	VERB
fcis-14572	120	28	as	as	ADP
fcis-14572	120	29	50s	50	NOUN
fcis-14572	120	30	,	,	PUNCT
fcis-14572	120	31	the	the	DET
fcis-14572	120	32	simulation	simulation	NOUN
fcis-14572	120	33	reference	reference	NOUN
fcis-14572	120	34	speed	speed	NOUN
fcis-14572	120	35	is	be	AUX
fcis-14572	120	36	5	5	NUM
fcis-14572	120	37	m/s	m/s	PROPN
fcis-14572	120	38	,	,	PUNCT
fcis-14572	120	39	the	the	DET
fcis-14572	120	40	initial	initial	ADJ
fcis-14572	120	41	front	front	ADJ
fcis-14572	120	42	wheel	wheel	NOUN
fcis-14572	120	43	steering	steering	NOUN
fcis-14572	120	44	angle	angle	NOUN
fcis-14572	120	45	of	of	ADP
fcis-14572	120	46	the	the	DET
fcis-14572	120	47	simulation	simulation	NOUN
fcis-14572	120	48	is	be	AUX
fcis-14572	120	49	0	0	NUM
fcis-14572	120	50	°	°	NUM
fcis-14572	120	51	,	,	PUNCT
fcis-14572	120	52	the	the	DET
fcis-14572	120	53	initial	initial	ADJ
fcis-14572	120	54	position	position	NOUN
fcis-14572	120	55	of	of	ADP
fcis-14572	120	56	the	the	DET
fcis-14572	120	57	simulation	simulation	NOUN
fcis-14572	120	58	is	be	AUX
fcis-14572	120	59	zero	zero	NUM
fcis-14572	120	60	,	,	PUNCT
fcis-14572	120	61	and	and	CCONJ
fcis-14572	120	62	the	the	DET
fcis-14572	120	63	parametric	parametric	ADJ
fcis-14572	120	64	equation	equation	NOUN
fcis-14572	120	65	of	of	ADP
fcis-14572	120	66	the	the	DET
fcis-14572	120	67	circular	circular	ADJ
fcis-14572	120	68	trajectory	trajectory	NOUN
fcis-14572	120	69	is	be	AUX
fcis-14572	120	70	as	as	SCONJ
fcis-14572	120	71	follows	follow	VERB
fcis-14572	120	72	:	:	PUNCT
fcis-14572	120	73	arg	arg	NOUN
fcis-14572	120	74	(	(	PUNCT
fcis-14572	120	75	)	)	PUNCT
fcis-14572	120	76	5	5	NUM
fcis-14572	120	77	25*sin	25*sin	NUM
fcis-14572	120	78	(	(	PUNCT
fcis-14572	120	79	)	)	PUNCT
fcis-14572	120	80	35	35	NUM
fcis-14572	120	81	25*cos	25*cos	NUM
fcis-14572	120	82	tan	tan	NOUN
fcis-14572	120	83	(	(	PUNCT
fcis-14572	120	84	)	)	PUNCT
fcis-14572	121	1	*	*	PUNCT
fcis-14572	121	2	t	t	NOUN
fcis-14572	121	3	t	t	X
fcis-14572	122	1	d	d	X
fcis-14572	122	2	t	t	X
fcis-14572	122	3	et	et	NOUN
fcis-14572	122	4	x	x	PROPN
fcis-14572	123	1	t	t	PROPN
fcis-14572	123	2	y	y	PROPN
fcis-14572	123	3	t	t	PROPN
fcis-14572	123	4	v	v	NOUN
fcis-14572	123	5	t	t	PROPN
fcis-14572	123	6	t	t	PROPN
fcis-14572	123	7	l	l	NOUN
fcis-14572	123	8			NOUN
fcis-14572	123	9			NOUN
fcis-14572	124	1			NOUN
fcis-14572	124	2			ADP
fcis-14572	125	1			NUM
fcis-14572	126	1			PROPN
fcis-14572	126	2			PROPN
fcis-14572	126	3			VERB
fcis-14572	126	4			NOUN
fcis-14572	127	1			NUM
fcis-14572	127	2			NOUN
fcis-14572	127	3			NUM
fcis-14572	127	4			PROPN
fcis-14572	127	5			PROPN
fcis-14572	127	6			NOUN
fcis-14572	127	7	(	(	PUNCT
fcis-14572	127	8	26	26	NUM
fcis-14572	127	9	)	)	PUNCT
fcis-14572	127	10	where	where	SCONJ
fcis-14572	127	11	:	:	PUNCT
fcis-14572	127	12	is	be	AUX
fcis-14572	127	13	the	the	DET
fcis-14572	127	14	yaw	yaw	NOUN
fcis-14572	127	15	angle	angle	NOUN
fcis-14572	127	16	changing	change	VERB
fcis-14572	127	17	with	with	ADP
fcis-14572	127	18	time	time	NOUN
fcis-14572	127	19	.	.	PUNCT
fcis-14572	128	1	simulation	simulation	NOUN
fcis-14572	128	2	test	test	NOUN
fcis-14572	128	3	results	result	NOUN
fcis-14572	128	4	were	be	AUX
fcis-14572	128	5	obtained	obtain	VERB
fcis-14572	128	6	,	,	PUNCT
fcis-14572	128	7	as	as	SCONJ
fcis-14572	128	8	shown	show	VERB
fcis-14572	128	9	in	in	ADP
fcis-14572	128	10	figure	figure	NOUN
fcis-14572	128	11	1	1	NUM
fcis-14572	128	12	.	.	PUNCT
fcis-14572	129	1	according	accord	VERB
fcis-14572	129	2	to	to	ADP
fcis-14572	129	3	the	the	DET
fcis-14572	129	4	results	result	NOUN
fcis-14572	129	5	shown	show	VERB
fcis-14572	129	6	in	in	ADP
fcis-14572	129	7	fig	fig	NOUN
fcis-14572	129	8	.	.	PUNCT
fcis-14572	130	1	5	5	NUM
fcis-14572	130	2	(	(	PUNCT
fcis-14572	130	3	a	a	NOUN
fcis-14572	130	4	)	)	PUNCT
fcis-14572	130	5	and	and	CCONJ
fcis-14572	130	6	(	(	PUNCT
fcis-14572	130	7	b	b	NOUN
fcis-14572	130	8	)	)	PUNCT
fcis-14572	130	9	,	,	PUNCT
fcis-14572	130	10	it	it	PRON
fcis-14572	130	11	can	can	AUX
fcis-14572	130	12	be	be	AUX
fcis-14572	130	13	seen	see	VERB
fcis-14572	130	14	that	that	SCONJ
fcis-14572	130	15	the	the	DET
fcis-14572	130	16	unmanned	unmanned	ADJ
fcis-14572	130	17	two	two	NUM
fcis-14572	130	18	-	-	PUNCT
fcis-14572	130	19	wheeled	wheel	VERB
fcis-14572	130	20	vehicle	vehicle	NOUN
fcis-14572	130	21	can	can	AUX
fcis-14572	130	22	rapidly	rapidly	ADV
fcis-14572	130	23	reduce	reduce	VERB
fcis-14572	130	24	the	the	DET
fcis-14572	130	25	error	error	NOUN
fcis-14572	130	26	with	with	ADP
fcis-14572	130	27	the	the	DET
fcis-14572	130	28	reference	reference	NOUN
fcis-14572	130	29	track	track	NOUN
fcis-14572	130	30	when	when	SCONJ
fcis-14572	130	31	it	it	PRON
fcis-14572	130	32	leaves	leave	VERB
fcis-14572	130	33	the	the	DET
fcis-14572	130	34	target	target	NOUN
fcis-14572	130	35	track	track	NOUN
fcis-14572	130	36	,	,	PUNCT
fcis-14572	130	37	so	so	SCONJ
fcis-14572	130	38	as	as	SCONJ
fcis-14572	130	39	to	to	PART
fcis-14572	130	40	track	track	VERB
fcis-14572	130	41	the	the	DET
fcis-14572	130	42	circular	circular	ADJ
fcis-14572	130	43	track	track	NOUN
fcis-14572	130	44	of	of	ADP
fcis-14572	130	45	the	the	DET
fcis-14572	130	46	upper	upper	ADJ
fcis-14572	130	47	target	target	NOUN
fcis-14572	130	48	.	.	PUNCT
fcis-14572	131	1	figures	figure	NOUN
fcis-14572	131	2	(	(	PUNCT
fcis-14572	131	3	c	c	NOUN
fcis-14572	131	4	)	)	PUNCT
fcis-14572	131	5	and	and	CCONJ
fcis-14572	131	6	(	(	PUNCT
fcis-14572	131	7	d	d	X
fcis-14572	131	8	)	)	PUNCT
fcis-14572	131	9	reflect	reflect	VERB
fcis-14572	131	10	the	the	DET
fcis-14572	131	11	change	change	NOUN
fcis-14572	131	12	of	of	ADP
fcis-14572	131	13	roll	roll	NOUN
fcis-14572	131	14	angle	angle	NOUN
fcis-14572	131	15	and	and	CCONJ
fcis-14572	131	16	steering	steering	NOUN
fcis-14572	131	17	angle	angle	NOUN
fcis-14572	131	18	of	of	ADP
fcis-14572	131	19	unmanned	unmanned	ADJ
fcis-14572	131	20	two	two	NUM
fcis-14572	131	21	-	-	PUNCT
fcis-14572	131	22	wheelers	wheeler	NOUN
fcis-14572	131	23	,	,	PUNCT
fcis-14572	131	24	both	both	PRON
fcis-14572	131	25	of	of	ADP
fcis-14572	131	26	which	which	PRON
fcis-14572	131	27	converge	converge	VERB
fcis-14572	131	28	gradually	gradually	ADV
fcis-14572	131	29	.	.	PUNCT
fcis-14572	132	1	the	the	DET
fcis-14572	132	2	final	final	ADJ
fcis-14572	132	3	steering	steering	NOUN
fcis-14572	132	4	angle	angle	NOUN
fcis-14572	132	5	converges	converge	NOUN
fcis-14572	132	6	to	to	ADP
fcis-14572	132	7	4.13	4.13	NUM
fcis-14572	132	8	°	°	NOUN
fcis-14572	132	9	.	.	PUNCT
fcis-14572	133	1	(	(	PUNCT
fcis-14572	133	2	a)change	a)change	PROPN
fcis-14572	133	3	of	of	ADP
fcis-14572	133	4	track	track	NOUN
fcis-14572	133	5	49	49	NUM
fcis-14572	133	6	(	(	PUNCT
fcis-14572	133	7	b)change	b)change	NOUN
fcis-14572	133	8	of	of	ADP
fcis-14572	133	9	tracking	tracking	NOUN
fcis-14572	133	10	error	error	NOUN
fcis-14572	133	11	(	(	PUNCT
fcis-14572	133	12	c)change	c)change	NOUN
fcis-14572	133	13	of	of	ADP
fcis-14572	133	14	roll	roll	NOUN
fcis-14572	133	15	angle	angle	NOUN
fcis-14572	133	16	(	(	PUNCT
fcis-14572	133	17	d)change	d)change	NOUN
fcis-14572	133	18	of	of	ADP
fcis-14572	133	19	steering	steer	VERB
fcis-14572	133	20	angle	angle	NOUN
fcis-14572	133	21	fig	fig	NOUN
fcis-14572	133	22	1	1	NUM
fcis-14572	133	23	.	.	PUNCT
fcis-14572	133	24	result	result	NOUN
fcis-14572	133	25	of	of	ADP
fcis-14572	133	26	circular	circular	ADJ
fcis-14572	133	27	track	track	NOUN
fcis-14572	133	28	with	with	ADP
fcis-14572	133	29	a	a	DET
fcis-14572	133	30	tracking	track	VERB
fcis-14572	133	31	radius	radius	NOUN
fcis-14572	133	32	of	of	ADP
fcis-14572	133	33	25	25	NUM
fcis-14572	133	34	m	m	NOUN
fcis-14572	133	35	5	5	NUM
fcis-14572	133	36	.	.	PUNCT
fcis-14572	134	1	conclusion	conclusion	NOUN
fcis-14572	134	2	(	(	PUNCT
fcis-14572	134	3	1	1	X
fcis-14572	134	4	)	)	PUNCT
fcis-14572	134	5	combining	combine	VERB
fcis-14572	134	6	the	the	DET
fcis-14572	134	7	angle	angle	NOUN
fcis-14572	134	8	loop	loop	PROPN
fcis-14572	134	9	control	control	PROPN
fcis-14572	134	10	algorithm	algorithm	PROPN
fcis-14572	134	11	,	,	PUNCT
fcis-14572	134	12	a	a	DET
fcis-14572	134	13	trajectory	trajectory	NOUN
fcis-14572	134	14	tracker	tracker	NOUN
fcis-14572	134	15	considering	consider	VERB
fcis-14572	134	16	model	model	NOUN
fcis-14572	134	17	predictive	predictive	ADJ
fcis-14572	134	18	control	control	NOUN
fcis-14572	134	19	is	be	AUX
fcis-14572	134	20	designed	design	VERB
fcis-14572	134	21	to	to	PART
fcis-14572	134	22	realize	realize	VERB
fcis-14572	134	23	that	that	SCONJ
fcis-14572	134	24	when	when	SCONJ
fcis-14572	134	25	the	the	DET
fcis-14572	134	26	vehicle	vehicle	NOUN
fcis-14572	134	27	speed	speed	NOUN
fcis-14572	134	28	is	be	AUX
fcis-14572	134	29	3	3	NUM
fcis-14572	134	30	m/s	m/s	NUM
fcis-14572	134	31	and	and	CCONJ
fcis-14572	134	32	5	5	NUM
fcis-14572	134	33	m/s	m/s	PROPN
fcis-14572	134	34	,	,	PUNCT
fcis-14572	134	35	the	the	DET
fcis-14572	134	36	vehicle	vehicle	NOUN
fcis-14572	134	37	can	can	AUX
fcis-14572	134	38	track	track	VERB
fcis-14572	134	39	the	the	DET
fcis-14572	134	40	expected	expect	VERB
fcis-14572	134	41	linear	linear	PROPN
fcis-14572	134	42	trajectory	trajectory	NOUN
fcis-14572	134	43	and	and	CCONJ
fcis-14572	134	44	circular	circular	ADJ
fcis-14572	134	45	trajectory	trajectory	NOUN
fcis-14572	134	46	well	well	INTJ
fcis-14572	134	47	under	under	ADP
fcis-14572	134	48	the	the	DET
fcis-14572	134	49	simulation	simulation	NOUN
fcis-14572	134	50	platform	platform	NOUN
fcis-14572	134	51	.	.	PUNCT
fcis-14572	135	1	(	(	PUNCT
fcis-14572	135	2	2	2	X
fcis-14572	135	3	)	)	PUNCT
fcis-14572	135	4	through	through	ADP
fcis-14572	135	5	the	the	DET
fcis-14572	135	6	simulation	simulation	NOUN
fcis-14572	135	7	test	test	NOUN
fcis-14572	135	8	,	,	PUNCT
fcis-14572	135	9	it	it	PRON
fcis-14572	135	10	is	be	AUX
fcis-14572	135	11	obtained	obtain	VERB
fcis-14572	135	12	that	that	SCONJ
fcis-14572	135	13	at	at	ADP
fcis-14572	135	14	the	the	DET
fcis-14572	135	15	speed	speed	NOUN
fcis-14572	135	16	of	of	ADP
fcis-14572	135	17	5	5	NUM
fcis-14572	135	18	m/s	m/s	PROPN
fcis-14572	135	19	,	,	PUNCT
fcis-14572	135	20	the	the	DET
fcis-14572	135	21	limit	limit	NOUN
fcis-14572	135	22	curvature	curvature	NOUN
fcis-14572	135	23	that	that	SCONJ
fcis-14572	135	24	the	the	DET
fcis-14572	135	25	controller	controller	NOUN
fcis-14572	135	26	can	can	AUX
fcis-14572	135	27	track	track	VERB
fcis-14572	135	28	is	be	AUX
fcis-14572	135	29	0.29	0.29	NUM
fcis-14572	135	30	,	,	PUNCT
fcis-14572	135	31	and	and	CCONJ
fcis-14572	135	32	the	the	DET
fcis-14572	135	33	vehicle	vehicle	NOUN
fcis-14572	135	34	can	can	AUX
fcis-14572	135	35	track	track	VERB
fcis-14572	135	36	the	the	DET
fcis-14572	135	37	circular	circular	ADJ
fcis-14572	135	38	trajectory	trajectory	NOUN
fcis-14572	135	39	under	under	ADP
fcis-14572	135	40	the	the	DET
fcis-14572	135	41	limit	limit	NOUN
fcis-14572	135	42	curvature	curvature	NOUN
fcis-14572	135	43	well	well	ADV
fcis-14572	135	44	,	,	PUNCT
fcis-14572	135	45	which	which	PRON
fcis-14572	135	46	verifies	verify	VERB
fcis-14572	135	47	the	the	DET
fcis-14572	135	48	performance	performance	NOUN
fcis-14572	135	49	of	of	ADP
fcis-14572	135	50	the	the	DET
fcis-14572	135	51	trajectory	trajectory	NOUN
fcis-14572	135	52	tracking	tracking	NOUN
fcis-14572	135	53	controller	controller	NOUN
fcis-14572	135	54	.	.	PUNCT
fcis-14572	136	1	references	reference	NOUN
fcis-14572	136	2	[	[	X
fcis-14572	136	3	1	1	NUM
fcis-14572	136	4	]	]	X
fcis-14572	136	5	singh	singh	PROPN
fcis-14572	136	6	,	,	PUNCT
fcis-14572	136	7	r	r	NOUN
fcis-14572	136	8	,	,	PUNCT
fcis-14572	136	9	bhushan	bhushan	PROPN
fcis-14572	136	10	,	,	PUNCT
fcis-14572	136	11	b.	b.	PROPN
fcis-14572	136	12	improved	improve	VERB
fcis-14572	136	13	ant	ant	ADJ
fcis-14572	136	14	colony	colony	NOUN
fcis-14572	136	15	optimization	optimization	NOUN
fcis-14572	136	16	for	for	ADP
fcis-14572	136	17	achieving	achieve	VERB
fcis-14572	136	18	self	self	NOUN
fcis-14572	136	19	-	-	PUNCT
fcis-14572	136	20	balancing	balance	VERB
fcis-14572	136	21	and	and	CCONJ
fcis-14572	136	22	position	position	NOUN
fcis-14572	136	23	control	control	NOUN
fcis-14572	136	24	for	for	ADP
fcis-14572	136	25	balancer	balancer	NOUN
fcis-14572	136	26	systems[j	systems[j	PROPN
fcis-14572	136	27	]	]	PUNCT
fcis-14572	136	28	.	.	PUNCT
fcis-14572	137	1	journal	journal	PROPN
fcis-14572	137	2	of	of	ADP
fcis-14572	137	3	ambient	ambient	ADJ
fcis-14572	137	4	intelligence	intelligence	NOUN
fcis-14572	137	5	and	and	CCONJ
fcis-14572	137	6	humanized	humanize	VERB
fcis-14572	137	7	computing	computing	NOUN
fcis-14572	137	8	,	,	PUNCT
fcis-14572	137	9	2021	2021	NUM
fcis-14572	137	10	,	,	PUNCT
fcis-14572	137	11	12	12	NUM
fcis-14572	137	12	:	:	PUNCT
fcis-14572	137	13	8339–8356	8339–8356	NUM
fcis-14572	137	14	.	.	PUNCT
fcis-14572	138	1	[	[	X
fcis-14572	138	2	2	2	NUM
fcis-14572	138	3	]	]	PUNCT
fcis-14572	138	4	leilei	leilei	PROPN
fcis-14572	138	5	cui	cui	PROPN
fcis-14572	138	6	,	,	PUNCT
fcis-14572	138	7	shuai	shuai	PROPN
fcis-14572	138	8	wang	wang	PROPN
fcis-14572	138	9	,	,	PUNCT
fcis-14572	138	10	zhengyou	zhengyou	PROPN
fcis-14572	138	11	zhang	zhang	PROPN
fcis-14572	138	12	,	,	PUNCT
fcis-14572	138	13	et	et	PROPN
fcis-14572	138	14	al	al	PROPN
fcis-14572	138	15	.	.	PUNCT
fcis-14572	138	16	asymptotic	asymptotic	ADJ
fcis-14572	138	17	trajectory	trajectory	NOUN
fcis-14572	138	18	tracking	tracking	NOUN
fcis-14572	138	19	of	of	ADP
fcis-14572	138	20	autonomous	autonomous	ADJ
fcis-14572	138	21	bicycles	bicycle	NOUN
fcis-14572	138	22	via	via	ADP
fcis-14572	138	23	backstepping	backstepping	NOUN
fcis-14572	138	24	and	and	CCONJ
fcis-14572	138	25	optimal	optimal	ADJ
fcis-14572	138	26	control[j	control[j	NOUN
fcis-14572	138	27	]	]	PUNCT
fcis-14572	138	28	.	.	PUNCT
fcis-14572	139	1	ieee	ieee	PROPN
fcis-14572	139	2	control	control	PROPN
fcis-14572	139	3	systems	systems	PROPN
fcis-14572	139	4	letters	letter	NOUN
fcis-14572	139	5	,	,	PUNCT
fcis-14572	139	6	2022	2022	NUM
fcis-14572	139	7	,	,	PUNCT
fcis-14572	139	8	6	6	NUM
fcis-14572	139	9	:	:	SYM
fcis-14572	139	10	1292	1292	NUM
fcis-14572	139	11	-	-	SYM
fcis-14572	139	12	1297	1297	NUM
fcis-14572	139	13	.	.	PUNCT
fcis-14572	140	1	[	[	X
fcis-14572	140	2	3	3	X
fcis-14572	140	3	]	]	X
fcis-14572	140	4	huang	huang	PROPN
fcis-14572	140	5	mei	mei	PROPN
fcis-14572	140	6	.	.	PROPN
fcis-14572	140	7	trajectory	trajectory	PROPN
fcis-14572	140	8	planning	planning	NOUN
fcis-14572	140	9	and	and	CCONJ
fcis-14572	140	10	tracking	tracking	NOUN
fcis-14572	140	11	control	control	NOUN
fcis-14572	140	12	of	of	ADP
fcis-14572	140	13	intelligent	intelligent	ADJ
fcis-14572	140	14	vehicle	vehicle	NOUN
fcis-14572	140	15	based	base	VERB
fcis-14572	140	16	on	on	ADP
fcis-14572	140	17	model	model	NOUN
fcis-14572	140	18	predictive	predictive	ADJ
fcis-14572	140	19	control	control	NOUN
fcis-14572	141	1	[	[	X
fcis-14572	141	2	d	d	X
fcis-14572	141	3	]	]	X
fcis-14572	141	4	.	.	PUNCT
fcis-14572	142	1	chongqing	chongqing	PROPN
fcis-14572	142	2	university	university	PROPN
fcis-14572	142	3	of	of	ADP
fcis-14572	142	4	posts	post	NOUN
fcis-14572	142	5	and	and	CCONJ
fcis-14572	142	6	telecommunications	telecommunication	NOUN
fcis-14572	142	7	,	,	PUNCT
fcis-14572	142	8	2020	2020	NUM
fcis-14572	142	9	.	.	PUNCT
fcis-14572	143	1	[	[	X
fcis-14572	143	2	4	4	X
fcis-14572	143	3	]	]	X
fcis-14572	143	4	liu	liu	PROPN
fcis-14572	143	5	nan	nan	PROPN
fcis-14572	143	6	.	.	PUNCT
fcis-14572	144	1	research	research	NOUN
fcis-14572	144	2	on	on	ADP
fcis-14572	144	3	trajectory	trajectory	NOUN
fcis-14572	144	4	tracking	tracking	NOUN
fcis-14572	144	5	control	control	NOUN
fcis-14572	144	6	of	of	ADP
fcis-14572	144	7	unmanned	unmanned	ADJ
fcis-14572	144	8	vehicles	vehicle	NOUN
fcis-14572	144	9	based	base	VERB
fcis-14572	144	10	on	on	ADP
fcis-14572	144	11	mpc	mpc	PROPN
fcis-14572	145	1	[	[	X
fcis-14572	145	2	d	d	X
fcis-14572	145	3	]	]	X
fcis-14572	145	4	.	.	PUNCT
fcis-14572	146	1	xi	xi	X
fcis-14572	146	2	'	'	PUNCT
fcis-14572	146	3	an	an	DET
fcis-14572	146	4	university	university	NOUN
fcis-14572	146	5	of	of	ADP
fcis-14572	146	6	technology	technology	NOUN
fcis-14572	146	7	,	,	PUNCT
fcis-14572	146	8	2021	2021	NUM
fcis-14572	146	9	.	.	PUNCT
fcis-14572	147	1	[	[	X
fcis-14572	147	2	5	5	X
fcis-14572	147	3	]	]	X
fcis-14572	147	4	liang	liang	PROPN
fcis-14572	147	5	zhongchao	zhongchao	PROPN
fcis-14572	147	6	,	,	PUNCT
fcis-14572	147	7	zhang	zhang	PROPN
fcis-14572	147	8	huan	huan	PROPN
fcis-14572	147	9	,	,	PUNCT
fcis-14572	147	10	zhao	zhao	PROPN
fcis-14572	147	11	jing	jing	PROPN
fcis-14572	147	12	,	,	PUNCT
fcis-14572	147	13	et	et	PROPN
fcis-14572	147	14	al	al	PROPN
fcis-14572	147	15	.	.	PROPN
fcis-14572	147	16	autonomous	autonomous	PROPN
fcis-14572	147	17	vehicle	vehicle	NOUN
fcis-14572	147	18	trajectory	trajectory	NOUN
fcis-14572	147	19	tracking	tracking	NOUN
fcis-14572	147	20	control	control	NOUN
fcis-14572	147	21	based	base	VERB
fcis-14572	147	22	on	on	ADP
fcis-14572	147	23	adaptive	adaptive	ADJ
fcis-14572	147	24	mpc	mpc	PROPN
fcis-14572	148	1	[	[	X
fcis-14572	148	2	j	j	X
fcis-14572	148	3	]	]	X
fcis-14572	148	4	.	.	PUNCT
fcis-14572	149	1	journal	journal	PROPN
fcis-14572	149	2	of	of	ADP
fcis-14572	149	3	northeastern	northeastern	ADJ
fcis-14572	149	4	university	university	PROPN
fcis-14572	149	5	(	(	PUNCT
fcis-14572	149	6	natural	natural	ADJ
fcis-14572	149	7	science	science	NOUN
fcis-14572	149	8	)	)	PUNCT
fcis-14572	149	9	,	,	PUNCT
fcis-14572	149	10	2020	2020	NUM
fcis-14572	149	11	,	,	PUNCT
fcis-14572	149	12	41	41	NUM
fcis-14572	149	13	(	(	PUNCT
fcis-14572	149	14	6	6	NUM
fcis-14572	149	15	):	):	PUNCT
fcis-14572	149	16	835	835	NUM
fcis-14572	149	17	.	.	PUNCT
fcis-14572	150	1	[	[	X
fcis-14572	150	2	6	6	NUM
fcis-14572	150	3	]	]	PUNCT
fcis-14572	150	4	wang	wang	PROPN
fcis-14572	150	5	si	si	PROPN
fcis-14572	150	6	-	-	PUNCT
fcis-14572	150	7	xiao	xiao	PROPN
fcis-14572	150	8	,	,	PUNCT
fcis-14572	150	9	zhao	zhao	PROPN
fcis-14572	150	10	wen	wen	PROPN
fcis-14572	150	11	-	-	PROPN
fcis-14572	150	12	jun	jun	PROPN
fcis-14572	150	13	,	,	PUNCT
fcis-14572	150	14	zhang	zhang	PROPN
fcis-14572	150	15	hao	hao	PROPN
fcis-14572	150	16	,	,	PUNCT
fcis-14572	150	17	gao	gao	PROPN
fcis-14572	150	18	yong	yong	PROPN
fcis-14572	150	19	,	,	PUNCT
fcis-14572	150	20	lipson	lipson	PROPN
fcis-14572	150	21	.	.	PUNCT
fcis-14572	151	1	td	td	NOUN
fcis-14572	151	2	-	-	PUNCT
fcis-14572	151	3	pid	pid	NOUN
fcis-14572	151	4	control	control	NOUN
fcis-14572	151	5	algorithm	algorithm	NOUN
fcis-14572	151	6	of	of	ADP
fcis-14572	151	7	coaxial	coaxial	ADJ
fcis-14572	151	8	anti	anti	ADJ
fcis-14572	151	9	-	-	ADJ
fcis-14572	151	10	propeller	propeller	ADJ
fcis-14572	151	11	uav	uav	PROPN
fcis-14572	151	12	string	string	NOUN
fcis-14572	151	13	based	base	VERB
fcis-14572	151	14	on	on	ADP
fcis-14572	151	15	differential	differential	ADJ
fcis-14572	151	16	tracker[j	tracker[j	NOUN
fcis-14572	151	17	]	]	X
fcis-14572	151	18	.	.	PUNCT
fcis-14572	152	1	journal	journal	PROPN
fcis-14572	152	2	of	of	ADP
fcis-14572	152	3	zhejiang	zhejiang	PROPN
fcis-14572	152	4	university	university	PROPN
fcis-14572	152	5	(	(	PUNCT
fcis-14572	152	6	engineering	engineering	NOUN
fcis-14572	152	7	edition	edition	NOUN
fcis-14572	152	8	)	)	PUNCT
fcis-14572	152	9	,	,	PUNCT
fcis-14572	152	10	2021	2021	NUM
fcis-14572	152	11	,	,	PUNCT
fcis-14572	152	12	55	55	NUM
fcis-14572	152	13	(	(	PUNCT
fcis-14572	152	14	12	12	NUM
fcis-14572	152	15	):	):	PUNCT
fcis-14572	152	16	2359	2359	NUM
fcis-14572	152	17	-	-	SYM
fcis-14572	152	18	2364	2364	NUM
fcis-14572	152	19	.	.	PUNCT
fcis-14572	153	1	[	[	X
fcis-14572	153	2	7	7	NUM
fcis-14572	153	3	]	]	X
fcis-14572	153	4	wu	wu	PROPN
fcis-14572	153	5	hong	hong	PROPN
fcis-14572	153	6	-	-	PUNCT
fcis-14572	153	7	xin	xin	PROPN
fcis-14572	153	8	,	,	PUNCT
fcis-14572	153	9	shen	shen	PROPN
fcis-14572	153	10	shao	shao	PROPN
fcis-14572	153	11	-	-	PUNCT
fcis-14572	153	12	ping	ping	PROPN
fcis-14572	153	13	.	.	PUNCT
fcis-14572	153	14	application	application	NOUN
fcis-14572	153	15	and	and	CCONJ
fcis-14572	153	16	theoretical	theoretical	ADJ
fcis-14572	153	17	basis	basis	NOUN
fcis-14572	153	18	of	of	ADP
fcis-14572	153	19	pid	pid	PROPN
fcis-14572	153	20	control[j	control[j	PROPN
fcis-14572	153	21	]	]	PUNCT
fcis-14572	153	22	.	.	PUNCT
fcis-14572	154	1	control	control	PROPN
fcis-14572	154	2	engineering	engineering	PROPN
fcis-14572	154	3	,	,	PUNCT
fcis-14572	154	4	2003	2003	NUM
fcis-14572	154	5	(	(	PUNCT
fcis-14572	154	6	01	01	NUM
fcis-14572	154	7	):	):	PUNCT
fcis-14572	154	8	37	37	NUM
fcis-14572	154	9	-	-	SYM
fcis-14572	154	10	42	42	NUM
fcis-14572	154	11	.	.	PUNCT
fcis-14572	155	1	[	[	X
fcis-14572	155	2	8	8	NUM
fcis-14572	155	3	]	]	X
fcis-14572	155	4	gong	gong	NOUN
fcis-14572	155	5	jian	jian	PROPN
fcis-14572	155	6	-	-	PUNCT
fcis-14572	155	7	wei	wei	PROPN
fcis-14572	155	8	,	,	PUNCT
fcis-14572	155	9	liu	liu	PROPN
fcis-14572	155	10	kai	kai	PROPN
fcis-14572	155	11	,	,	PUNCT
fcis-14572	155	12	qi	qi	PROPN
fcis-14572	155	13	jian	jian	PROPN
fcis-14572	155	14	-	-	PUNCT
fcis-14572	155	15	yong	yong	PROPN
fcis-14572	155	16	.	.	PUNCT
fcis-14572	155	17	model	model	PROPN
fcis-14572	155	18	predictive	predictive	ADJ
fcis-14572	155	19	control	control	NOUN
fcis-14572	155	20	for	for	ADP
fcis-14572	155	21	driverless	driverless	NOUN
fcis-14572	155	22	vehicles	vehicle	NOUN
fcis-14572	155	23	,	,	PUNCT
fcis-14572	155	24	2nd	2nd	ADJ
fcis-14572	155	25	edition[m	edition[m	PROPN
fcis-14572	155	26	]	]	PUNCT
fcis-14572	155	27	.	.	PUNCT
fcis-14572	156	1	beijing	beijing	PROPN
fcis-14572	156	2	:	:	PUNCT
fcis-14572	156	3	people	people	NOUN
fcis-14572	156	4	's	's	PART
fcis-14572	156	5	post	post	NOUN
fcis-14572	156	6	and	and	CCONJ
fcis-14572	156	7	telecommunications	telecommunication	NOUN
fcis-14572	156	8	press	press	NOUN
fcis-14572	156	9	,	,	PUNCT
fcis-14572	156	10	2020	2020	NUM
fcis-14572	156	11	.	.	PUNCT
fcis-14572	157	1	[	[	X
fcis-14572	157	2	9	9	NUM
fcis-14572	157	3	]	]	X
fcis-14572	157	4	chu	chu	X
fcis-14572	157	5	can	can	AUX
fcis-14572	157	6	-	-	PUNCT
fcis-14572	157	7	can	can	PROPN
fcis-14572	157	8	,	,	PUNCT
fcis-14572	157	9	wang	wang	PROPN
fcis-14572	157	10	dong	dong	PROPN
fcis-14572	157	11	,	,	PUNCT
fcis-14572	157	12	zhang	zhang	PROPN
fcis-14572	157	13	wei	wei	PROPN
fcis-14572	157	14	-	-	PUNCT
fcis-14572	157	15	gong	gong	PROPN
fcis-14572	157	16	,	,	PUNCT
fcis-14572	157	17	etc	etc	X
fcis-14572	157	18	.	.	X
fcis-14572	158	1	speed	speed	NOUN
fcis-14572	158	2	control	control	NOUN
fcis-14572	158	3	of	of	ADP
fcis-14572	158	4	electric	electric	ADJ
fcis-14572	158	5	vehicle	vehicle	NOUN
fcis-14572	158	6	driving	driving	NOUN
fcis-14572	158	7	robot	robot	NOUN
fcis-14572	158	8	based	base	VERB
fcis-14572	158	9	on	on	ADP
fcis-14572	158	10	inverse	inverse	NOUN
fcis-14572	158	11	control	control	NOUN
fcis-14572	158	12	strategy	strategy	NOUN
fcis-14572	158	13	model[j	model[j	PROPN
fcis-14572	158	14	]	]	X
fcis-14572	158	15	.	.	PUNCT
fcis-14572	159	1	automotive	automotive	PROPN
fcis-14572	159	2	engineering	engineering	PROPN
fcis-14572	159	3	,	,	PUNCT
fcis-14572	159	4	2020	2020	NUM
fcis-14572	159	5	,	,	PUNCT
fcis-14572	159	6	42	42	NUM
fcis-14572	159	7	(	(	PUNCT
fcis-14572	159	8	9	9	NUM
fcis-14572	159	9	):	):	PUNCT
fcis-14572	159	10	1166	1166	NUM
fcis-14572	159	11	-	-	SYM
fcis-14572	159	12	1173	1173	NUM
fcis-14572	159	13	.	.	PUNCT
fcis-14572	160	1	[	[	X
fcis-14572	160	2	10	10	NUM
fcis-14572	160	3	]	]	X
fcis-14572	160	4	xin	xin	PROPN
fcis-14572	160	5	peng	peng	PROPN
fcis-14572	160	6	.	.	PUNCT
fcis-14572	161	1	research	research	NOUN
fcis-14572	161	2	on	on	ADP
fcis-14572	161	3	path	path	NOUN
fcis-14572	161	4	tracking	tracking	NOUN
fcis-14572	161	5	model	model	NOUN
fcis-14572	161	6	predictive	predictive	PROPN
fcis-14572	161	7	control	control	NOUN
fcis-14572	161	8	method	method	NOUN
fcis-14572	161	9	for	for	ADP
fcis-14572	161	10	autonomous	autonomous	ADJ
fcis-14572	161	11	vehicles[d	vehicles[d	PROPN
fcis-14572	161	12	]	]	PUNCT
fcis-14572	161	13	.	.	PUNCT
fcis-14572	162	1	lanzhou	lanzhou	PROPN
fcis-14572	162	2	university	university	PROPN
fcis-14572	162	3	of	of	ADP
fcis-14572	162	4	technology	technology	NOUN
fcis-14572	162	5	,	,	PUNCT
fcis-14572	162	6	2021	2021	NUM
fcis-14572	162	7	.	.	PUNCT
fcis-14572	163	1	[	[	X
fcis-14572	163	2	11	11	NUM
fcis-14572	163	3	]	]	PUNCT
fcis-14572	163	4	wang	wang	PROPN
fcis-14572	163	5	qi	qi	PROPN
fcis-14572	163	6	,	,	PUNCT
fcis-14572	163	7	kong	kong	PROPN
fcis-14572	163	8	de	de	PROPN
fcis-14572	163	9	-	-	PROPN
fcis-14572	163	10	peng	peng	PROPN
fcis-14572	163	11	.	.	PUNCT
fcis-14572	164	1	terminal	terminal	PROPN
fcis-14572	164	2	trajectory	trajectory	NOUN
fcis-14572	164	3	tracking	tracking	NOUN
fcis-14572	164	4	control	control	NOUN
fcis-14572	164	5	of	of	ADP
fcis-14572	164	6	free	free	ADV
fcis-14572	164	7	-	-	PUNCT
fcis-14572	164	8	floating	float	VERB
fcis-14572	164	9	dual	dual	ADJ
fcis-14572	164	10	-	-	PUNCT
fcis-14572	164	11	arm	arm	NOUN
fcis-14572	164	12	space	space	NOUN
fcis-14572	164	13	robot[j	robot[j	NOUN
fcis-14572	164	14	]	]	PUNCT
fcis-14572	164	15	.	.	PUNCT
fcis-14572	165	1	mechanical	mechanical	ADJ
fcis-14572	165	2	design	design	NOUN
fcis-14572	165	3	and	and	CCONJ
fcis-14572	165	4	manufacturing	manufacturing	NOUN
fcis-14572	165	5	,	,	PUNCT
fcis-14572	165	6	2022	2022	NUM
fcis-14572	165	7	,	,	PUNCT
fcis-14572	165	8	no.382	no.382	PROPN
fcis-14572	165	9	(	(	PUNCT
fcis-14572	165	10	12	12	NUM
fcis-14572	165	11	):	):	PUNCT
fcis-14572	165	12	68	68	NUM
fcis-14572	165	13	-	-	SYM
fcis-14572	165	14	72	72	NUM
fcis-14572	165	15	.	.	NOUN
fcis-14572	165	16	0	0	NUM
fcis-14572	166	1	10	10	NUM
fcis-14572	166	2	20	20	NUM
fcis-14572	166	3	30	30	NUM
fcis-14572	166	4	40	40	NUM
fcis-14572	166	5	50	50	NUM
fcis-14572	166	6	-2	-2	NOUN
fcis-14572	166	7	0	0	NUM
fcis-14572	166	8	2	2	NUM
fcis-14572	166	9	4	4	NUM
fcis-14572	166	10	6	6	NUM
fcis-14572	166	11	8	8	NUM
fcis-14572	166	12	10	10	NUM
fcis-14572	166	13	12	12	NUM
fcis-14572	166	14	14	14	NUM
fcis-14572	166	15	5	5	NUM
fcis-14572	166	16	m/s	m/s	PROPN
fcis-14572	166	17	0	0	NUM
fcis-14572	166	18	10	10	NUM
fcis-14572	166	19	20	20	NUM
fcis-14572	166	20	30	30	NUM
fcis-14572	166	21	40	40	NUM
fcis-14572	166	22	50	50	NUM
fcis-14572	166	23	-10	-10	PUNCT
fcis-14572	166	24	-5	-5	NOUN
fcis-14572	166	25	0	0	NUM
fcis-14572	167	1	5	5	NUM
fcis-14572	167	2	10	10	NUM
fcis-14572	167	3	15	15	NUM
fcis-14572	167	4	20	20	NUM
fcis-14572	167	5	5	5	NUM
fcis-14572	167	6	m/s	m/s	PROPN
fcis-14572	167	7	0	0	NUM
fcis-14572	167	8	10	10	NUM
fcis-14572	167	9	20	20	NUM
fcis-14572	167	10	30	30	NUM
fcis-14572	167	11	40	40	NUM
fcis-14572	167	12	50	50	NUM
fcis-14572	167	13	-10	-10	PUNCT
fcis-14572	167	14	-5	-5	NOUN
fcis-14572	167	15	0	0	NUM
fcis-14572	167	16	5	5	NUM
fcis-14572	167	17	10	10	NUM
fcis-14572	167	18	15	15	NUM
fcis-14572	167	19	5	5	NUM
fcis-14572	167	20	m/s	m/s	NUM