本文用生成元和定义关系的方法，对每个可解可补李代数给出一个定义矩阵。
A defining matrix is given for the solvable and complemental Lie algebras with a generator relation method.
在有单位元的交换环上，可应用生成元和定义关系的方法给出仿型李代数的定义。
On commutative ring with the identity, the definition of affine Lie algebras was given by applying the means of generator and defining relation.
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.
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