有低的差动输出阻抗绝大多数的线路驱动器，同时也固有地有低的共模输出阻抗，这样，低阻抗桥臂几乎无一例外地位于驱动器一侧。

Most line drivers with low differential output impedance will also have inherently low common-mode output impedances, so the low impedance arms of the bridge are almost always at the driver.

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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。

A dynamic sliding mode controller is devised to achieve output tracking of the mobile manipulator that consists of a mobile platform which has two driving wheels and a two-link manipulator arm.

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为实现移动机械臂的输出跟踪控制，设计了一种动态滑模控制器。

A dynamical sliding-mode controller is devised to track the output of mobile manipulators.

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