This technical report provides a more thorough treatment of the proofs and derivations contained in a recent conference paper submission. The description of the anchoring controller is reproduced here without abridgement, and additional appendices provide a clearer account of the implementation details.

翻译：本技术报告对最近提交的一份会议文件中所载的证明和衍生资料作了更彻底的处理,此处转载了锚定控制器的说明,但没有删节,其他附录更清楚地说明了执行情况的细节。