It used ring data structure to save massive data effectively. Bounded error-distances from vertices to average plane were computed to find prime vertices for removal.

It is proven that the new controller can guarantee the perfect motion tracking. On the other hand, the force tracking error is bounded with the bound being adjustable.

By theoretical(analysis, ) the closed-loop control system is proven to be semiglobally uniformly ultimately bounded, (with) tracking error converging to a residual set.