摘要
从互联的角度对多机器人系统的相关控制问题进行了归纳与总结,强调了互联关系在此类问题中的重要性。首先介绍了从互联角度研究此类问题的意义,然后基于互联关系综述了主要的控制体系结构,控制设计方法,以及相关的稳定性分析方法。列举了此类问题中因互联的复杂性而需结合的其他领域的工具,并介绍了一类热点控制问题—"编队控制"。指出了当前研究的重点、难点以及研究趋势,对多机器人系统的设计分析方法进行了展望,指出其发展前景。
From the interconnection view, related control problems of multi-robot system are summarized. For the purpose of emphasizing the special importance of the interconnected relationship between robots, an intreduction of the current researches in this field is given. Different structures of interconnected control systems are intreduced. Various design strategies and stability analysis methods are summarized. Some methods from other domains are listed which are useful to solve the complexity of the interconnection relationship. Formation control is presented as an example to illustrate the importance of interconnecfion. The future research directions are pointed out.
出处
《控制工程》
CSCD
2007年第5期527-531,共5页
Control Engineering of China
关键词
多机器人系统
互联系统
控制理论
multi-robot systems
interconnection systems
control theory
