在分析经典轨迹跟踪控制律缺点的基础上，算法中引入了机器人位姿误差的纵坐标误差以加速机器人的轨迹逼近速度，并采用人工场和位姿误差协同作用来共同完成机器人的导向控制。
In the proposed control method, a state differential feedback procedure is used to stabilize the robot and an artificial field combined with the posture error is introduced to navigate the robot.
在分析经典轨迹跟踪控制律缺点的基础上，算法中引入了机器人位姿误差的纵坐标误差以加速机器人的轨迹逼近速度，并采用人工场和位姿误差协同作用来共同完成机器人的导向控制。
In the proposed control method, a state differential feedback procedure is used to stabilize the robot and an artificial field combined with the posture error is introduced to navigate the robot.
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