| 多臂协调搬物系统的启发式分散控制 |
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| 引用本文： | 许晓鸣 席裕庚. 多臂协调搬物系统的启发式分散控制[J]. 上海交通大学学报, 1992, 26(2): 99-106 |
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| 作者姓名： | 许晓鸣 席裕庚 |
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| 作者单位： | 上海交通大学自动控制系(许晓鸣)，上海交通大学自动控制系(席裕庚) |
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| 基金项目： | 国家青年科学基金，国家863高技术基金，上海市青年科学基金的资助项目 |
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| 摘 要： | 本文采用队决策模型将协调控制问题转为分散控制问题,并应用启发式寻优技术来解决分散控制中出现的信息缺损问题.这种启发式分散控制方法,能在启发式寻优的意义下使整个系统的目标函数达到次优,同时使原先繁重的在线计算负担分散化,提高了控制的实时性.
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| 关 键 词： | 机器人学 多臂协调控制 机械臂 |
Decentralized Heuristic Control of Coordinated Multi-Arms Systems |
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| Xu Xiaoming Xi Yugeng. Decentralized Heuristic Control of Coordinated Multi-Arms Systems[J]. Journal of Shanghai Jiaotong University, 1992, 26(2): 99-106 |
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| Authors: | Xu Xiaoming Xi Yugeng |
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| Affiliation: | Xu Xiaoming Xi Yugeng |
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| Abstract: | Control of multi-robot-arms systems is very difficult due to complexity and nonlinearity.In tnis paper,we adopt the team decision model to decom-pose the original problem into N(the number of robot arms)smaller ones.For in-sufficiency of information due to the decentralized control structure,a heuristiccontrol strategy is used and a sub-optimal control is achieved in the sense of heu-ristic optimization. |
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| Keywords: | multi arms coordinated control robotics decentralized control large scale system theory he(?)ristic search strategy artificial intelligence |
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