关于机器人的分散控制

ON DECENTRALIZED CONTROL OF ROBOTS

摘要: 本文考虑在局部状态反馈下机器人的分散控制问题、并从机器人数学模型的结构特点出发，从结构上证明了机器人的分散可镇定性，在此基础上我们建议了一些可行的设计方法，并给出了设计例子．
- 机器人分散控制 /
- 机器人稳定性 /
- 控制器设计
Abstract: In this paper the decentralized control problem of robots by using local state feedbacks is considered.From the structural properties of the mathematical model of robots we show the possibility of decentra-lized stabilization of robots structurally,Based on that we propose some effective methods for the designof controlers and an example is given.
- robot decentralized control /
- robot stabilization /
- controller design