仿真结果表明，所设计的滑模变控制器使助力电机具有很好的动态性能，系统基本无抖动现象，实现了助力电机输出电流对目标电流的跟踪特性。
The simulation results show this control system has good dynamic property and negligible vibration, and efficiently makes the output current of direct motor trace the intent current.
针对轮式移动机器人的输出跟踪问题，提出一种动态滑模控制方法。
A dynamical sliding mode control approach is proposed for the output tracking of wheeled mobile robots.
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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