Then, a robust compensation term is developed in form of hyperbolic tangent function to obtain a smooth control input without chattering phenomena.

之后，设计了双曲正切函数的鲁棒补偿项，从而得到一种没有抖振的平滑控制输入。

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Then, a robust compensation term is developed in form of hyperbolic tangent function to obtain a smooth control input without chattering phenomena.

之后，设计了双曲正切函数的鲁棒补偿项，从而得到一种没有抖振的平滑控制输入。

youdao