两种控制律不需要知道系统参数，对模型误差具有鲁棒性。
Both control laws do not require the knowledge of the system parameters and are robust to modeling errors.
仿真实例表明，该控制律能保证误差的快速收敛性及对参数不确定性和外部扰动的鲁棒性。
The simulation example shows that control law can guarantee fast convergence of error as well as robustness of parameter uncertainties and external disturbances.
文中主要介绍了利用误差分布律概率密度函数定权来进行抗差估计的一种方法。
An introduction is Made of the method of using the weight of probability density function of error distribution law to conduct anti-error estimation.
自抗绕控制器由三部分组成：跟踪微分器、扩张状态观测器和非线性状态误差反馈控制律。
The auto-disturbance rejection controller is composed of three parts: tracking-differentiator, extended state observer and nonlinear state error feedback control law.
基本控制律采用非线性动态逆方法设计，神经网络用于对逆误差进行重构。
The base control law is designed in dynamic inversion and neural networks are used to reconstruct inversion error.
电压乘法器采用了三端输入方式和等温工作法式，以消除漏电影响和减小非平方律误差。
The input of this multiplier includes three terminals for eliminating the effect of leakage and the equal temperature operation mode for the converters is adopted to reduce the non-square law error.
飞机的基本控制律采用非线性动态逆方法设计，对于模型不准确和舵面故障等因素导致的逆误差采用神经网络进行在线补偿。
The base control law is designed in nonlinear dynamic inversion, and neural networks are used to cancel the inversion error induced by many reasons, especially by actuator failures.
通过设计切换律，对于具有未知上界的干扰，保证跟踪误差一致渐近趋于零。
For all disturbances which the upper bounds are unknown, the tracking errors decrease uniformly asymptotically to zero by the designing of switching strategy.
其次，建立了月球软着陆主制动段的误差模型，并运用误差敏感系数矩阵对所提出制导律的制导误差进行分析。
Secondly, error modules of main braking were established and errors of the guidance law designed above were analyzed by error sensitivity coefficient matrixes.
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.
目标和拦截弹间的相对运动是非线性的，采用传统线性化模型建立的拦截制导律会因为线性化而带来误差。
Since the kinematics of the relative motion between the target and the interceptor is actually nonlinear, guidance laws traditionally based on linearization cause errors in the interception.
通过引入参数周期自适应律，设计出的自适应控制策略，使跟踪误差平方在一个周期上的积分范数渐近收敛于零。
A periodic mixed adaptive law and an adaptive repetitive learning control one are constructed to ensure the asymptotic convergence of the tracking error in the sense of square error norm.
设计了基于相对误差的三维非线性跟随弹编队控制器，得到相应的跟踪控制律。
Furthermore, a three-dimensional nonlinear formation controller based on relative error is designed and the tracking control law is obtained.
其中，模型逆基于悬停状态，基于神经网络的自适应控制律能够确保跟踪误差和控制信号的有界。
The model inversion is under the hover condition. And the adaptive control law based on the neural network is designed to guarantee the boundedness of tracking error and control signals.
讨论了在框架角速度和输出力矩误差之间建立平衡的方法，并设计了一种新的操纵律。
The method of establishing a balance between the gimbal rate and the output-torque error is discussed, and a new steering law is designed.
提出了基于切换增益衰减因子的变切换增益变结构控制律，实现了高精度的分布式卫星构型保持鲁棒控制，较好地克服了误差收敛时间和控制精度的矛盾；
The robust precise formation keeping of the DSS was realized based on the control law, and the conflict between control time and control precision was conquered using the control law.
考虑建模误差，采用反步法设计了自适应舵角控制律。
An adaptive rudder controller was designed by using back stepping method with consideration of model errors.
给出了参数自适应律和控制律，使得跟踪误差以概率1渐近衰减到零。仿真结果表明了该设计方法的有效性。
A parameter adaptive law and a control law were obtained to ensure asymptotic attenuation of the tracking error to zero with probability 1. The simulation results show the validity of the method.
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.
水泵装置在非最优工况下变速运行时，大流量侧装置性能参数按相似律换算误差变小，在小流量侧换算误差增大，最大相对误差达3.043%。
When the pump runs off the peak efficiency, the error of conversion method decreases in the large flow-rate region, while increases in the small flow-rate region, with a maximum error of 3.043%.
讨论单个凸守恒律初边值问题的粘性消失法的整体误差估计 ，其中初始值和边界值分别是递减和递增的具有有限个间断点的分段常数函数 。
This paper is concerned with an initial-boundary problem of nonconvex scalar conservation laws with two pieces of constant initial data and constant boundary data.
讨论单个凸守恒律初边值问题的粘性消失法的整体误差估计 ，其中初始值和边界值分别是递减和递增的具有有限个间断点的分段常数函数 。
This paper is concerned with an initial-boundary problem of nonconvex scalar conservation laws with two pieces of constant initial data and constant boundary data.
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