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並前往https://books.google.com.tw/books?id=fdNiDwAAQBAJ&pg=PA74&lpg=PA74&dq=umi+ui&source=bl&ots=-VOxEtJ4-q&sig=ACfU3U3cLLmLvKrXxFFa5rBJgHfY88_TGw&hl=zh-TW&sa=X&ved=2ahUKEwiOzIiKlZD0AhXBT30KHZPpAQkQ6AF6BQiGAhAD

Finite Time and Cooperative Control of Flight Vehicles

... i = 1, 2, 3 denotes the nonlinear saturation characteristic of the actuators and is of the form sat(u;) = sgn(ui) min{umi, ui |}, i = 1, 2, 3, ...

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