斜坡根据密度跟踪误差和误差变化情况，通过模糊逻辑对控制器参数进行调整，确定了测量速度。

The ramp metering rate is determined by the PID controller whose parameters are tuned by fuzzy logic according to the density tracking error and error variation.

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给出了在雷达低仰角跟踪测量中由于多径效应影响而引起的雷达仰角、方位角、速度、距离误差的估算模型。

In this paper the error models of Angle, range and speed due to multipath effect in low Angle radar tracking are given.

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首先根据由误差四元数和误差角速度描述的跟踪误差动力学和运动学方程，设计了基于李亚普诺夫方法的滑模变结构控制律。

First, according to the tracking error dynamics and kinematics described by unit quaternion error and angular velocity error, a sliding mode controller is derived based on Lyapunov theory.

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