模拟结果显示所提出的控制器具有快速跟踪预定轨迹、对参数时变和外部扰动具有鲁棒性等特点。
The simulation results show that the proposed controller is effective in fast tracking and robust to parameter variation and external disturbance.
同时深入论述了机器人离线编程的方法以及机器人预定轨迹的实现，并以实例论证了预定轨迹实现。
Then the means of off-line programming are researched deeply and preconcerted trajectory of the robot is realized and demonstrated by examples.
在拖曳速度为6～9节的情况下，能够控制拖曳系统按预定轨迹进行波浪运动，同时保持较稳定的姿态。
The towed vehicle could fly along the desired track and keep the steady attitude under 6~9 knots speed.
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