In addition, some control laws in Chapter 2 and 4 are further modified on the basis of saturated control, then the maximum of the control torques will be constrained within the admissible range.
另外，本文第2章和第4章还对相关的控制算法进行了饱和控制的处理，使得控制力矩的最大值限制在容许的范围内。
In addition, some control laws in Chapter 2 and 4 are further modified on the basis of saturated control, then the maximum of the control torques will be constrained within the admissible range.
另外，本文第2章和第4章还对相关的控制算法进行了饱和控制的处理，使得控制力矩的最大值限制在容许的范围内。
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