The approach is not only more robust to noise and parameter mismatch in the error dynamics, but also does not need the upper bound of the uncertainty in advance or the inertial filter.

• 所给控制策略，不仅对参数变化和噪声干扰具有很强的鲁棒性，而且不需要已知不确定项的上界，也不需要串联惯性滤波器。