Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved in transition.
这种方法可以使关节在自由空间和约束空间中分别实现良好的轨迹跟踪和力矩跟踪，在过渡过程中实现控制模式的可靠切换和系统的稳定过渡。
The tracking error is driven into the given boundary layer by the sliding mode control, and then the switch control is replaced by fuzzy control.
利用滑模控制使系统的跟踪误差进入给定的边界层内，启用模糊控制取代切换控制；
The variable structure model was based on the sliding mode control theory to switch the different control strategies of acquisition and pursuit tracking.
本文针对由二轮驱动的移动平台和二连杆机械臂组成的移动机械臂的输出跟踪问题，利用滑模控制原理为其设计了动态滑模控制器。
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