paper-表述

• However, such parameters are hardly known beforehand
  due to the complex robotic mechanism and uncertainties in the
  environment. （然而，由于机器人机构的复杂性和环境中的不确定性，这些参数很难预先知道。）
• control performance（控制性能）
• Motivated by the above-mentioned works, in this paper, xxx
• In this regard，xxx （考虑到这方面）
• It is worth to mention that xxx (值得一提的是，)
• in the presence of （当）
• guarantee （保证）
• A is remedied by B （A被B解决）
• with respect to （关于）
• can be derived as follows:（可以推导如下：）
• Quite often （经常，位于句首）
• take advantage of （利用）
• for the sake of (为了)