| 参数 | 数值 | | 参数 | 数值 | | ${z_0}/{\rm{m}}$ | 0.32 | | $\mu $ | 0.4 | | $T /{\rm{s}}$ | 0.25 | $\alpha $ | 20 | | $\lambda/{\rm{m}}$ | 0.1 | ${\tau _{ {\rm{min} } } }/({\rm{N}}\cdot {\rm{m}})$ | −35 | | $N$ | 4 | ${\tau _{ {\rm{max} } } }/({\rm{N}}\cdot {\rm{m}})$ | 35 | | ${{ Q}}$ | ${\rm{diag}}\;[100,\;100,\;1,\;1]$ | ${k_{\rm{\xi }}}$ | 300 | | ${{R}}$ | ${\rm{diag}}\;[100,\;100]$ | ${{S}}$ | ${\rm{diag}}\;[70,\;0,\;100,\;80,\;80,\;80]$ | | ${{V}}$ | ${\rm{diag}}\;[10,\;10]$ | ${{W}}$ | $10{{I}}$ | | ${{{p}}_{{\rm{cur}}}}$ | ${\left[ \!\!\!{\begin{array}{*{20}{c}} 0,&0 \end{array}} \!\!\!\right]^{\rm{T}}}$ | ${{{\delta }}_{{\rm{cur}}}}$ | ${\left[ \!\!\!\!\!\!\!\!\!\!{\begin{array}{*{20}{c}} {\begin{array}{*{20}{c}} 0,\!\!\!&\!\!\!0 ,\end{array}}\!\!\!{\begin{array}{*{20}{c}} 0,\!\!\!&\!\!\!0 \end{array}} \end{array}}\!\!\! \!\!\!\!\!\!\!\right]^{\rm{T}}}$ |
|