两机器人的分级协调变结构控制

Hierarchical Variable Structure Control for Two Cooperating Robots

In this paper, a two level decentralized control strategy is presented for two robots containing closed chain. Execution level controller is designed for servoing tracking and is well suited for parallel computation. Coordinaion level controller is designed to fulfill collision-free motion planning and real time coupling estimation among subsystems. This control strategy can be easily extended to multi-robot systems. Simulation results show this control scheme has high control precision and strong robustness.