基于事件的设计与控制技术及其在机器人系统中的应用

基于事件的设计与控制技术已经引起人们的广泛关注,其基本思想就是引入与系统输出相关的运动参考变量(action reference),在任意时刻使系统给定量的输入以及系统的设计都转化为这个参考变量的函数,使系统的设计部分与控制器一样成为系统的决策部件,从而使系统具备处理突发性、不确定性事件的能力,可以根据系统的实际输出来实时、自动地调整系统的输入,实现对系统的实时控制．机器人系统是一个智能控制系统．机器人间的协调协作是其智能性的主要表现．本文首先对基于事件的控制理论及其发展做了回顾,然后介绍了基于事件的控制技术在机器人队形保持、机器制造、多机器人协作等系统智能控制中的应用,实验证明该方法可以取得很好的智能控制效果,提高系统的控制性能．最后探讨了这一研究领域的发展方向．

Event-based planning and control technology and the application in robotic system

There is a growing interest in the technology of event-based planning and control. The basic idea is to introduce a new action reference variable related to the output of the system, by which the desired input and the plant are parameterized. The designer can adjust and modify the original plant in real time to generate the desired system input according to the system output and sensory information. Therefore the planning becomes a decision component and has the ability to deal with unexpected or uncertain events. The input can be adjusted automatically by the output for the realization of the control on real time. Robotic system is an intelligent system, its main character is the coordination among multiple robots. In the paper, the event-based control theory and its development are reviewed. Its application in formation of moving robots, in manufacturing system and the coordination of multi-robot are introduced. The experiment shows that the event-based planning and control technology can improve the performance of these systems. Finally, the future research directions are discussed.