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.
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；
Furthermore, a three-dimensional nonlinear formation controller based on relative error is designed and the tracking control law is obtained.
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。
The formation natural deflecting law and force are the basic geological foundation for the well trajectory control in directional wells and deflecting-protection in vertical wells.
地层自然造斜规律和造斜能力是定向井井眼轨迹控制和直井防斜打直的基本地质依据。
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