近模 meaning in English

near-lying mode

With limited disturbances considered , sliding mode control is used to design the controller , which ensures the sliding mode to be exponentially converged and the sliding manifold to be reached in limited time from any initial states . and an adaptive law is designed for the unknown inertia matrix
使用鲁棒性较强的滑模控制方法设计了控制律：滑动模态是指数收敛的；在有界干扰力矩存在时，任意初始状态都可以在有限的时间内收敛到滑动平面；对于转动惯量未知的情形，设计了自适应律，趋近模态是渐近收敛的。