A US vessel seized by pirates off Somalia is now back in the hands of the crew after they retook control of the ship.
一艘在索马里海域被劫持的美国船只在船员重新获得船只的控制权后，现在已经回到了他们的手里。
However, two hands are contradictory, and the former requires the control signal to change smoothly, while the latter wants to maintain certain amplitude of motivation, so control need trade-off.
两种作用在控制律的实现中是矛盾的，前者要求控制信号的变化趋向平缓，而后者要求维持一定幅度的激励，所以需要进行权衡。
However, two hands are contradictory, and the former requires the control signal to change smoothly, while the latter wants to maintain certain amplitude of motivation, so control need trade-off.
两种作用在控制律的实现中是矛盾的，前者要求控制信号的变化趋向平缓，而后者要求维持一定幅度的激励，所以需要进行权衡。
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