1. The adaptive process extenuates the influence of parameter uncertainty, and the robustness of the dynamic sliding mode control inhibits the influence of unknown dynamics and measurement noise. 用自适应过程减小参数不确定性的影响,并通过动态滑模控制器的高鲁棒性抑制机器人模型中的未知非线性动力学及测量噪声等的影响。