随着国家大力发展机器人科技战略，为多机器人理论与技术带来了新的发展契机。本项目围绕多机器人的协调同步和智能控制两大关键科学问题，以跟随领航型多机器人系统为研究对象，重点研究：(1)揭示多体多场强耦合效应对多机器人系统性能的影响规律，构建基于数据/机理混合的耦合动力学Hamilton模型，提高后续处理的准确率；(2) 采用复杂网络同步理论和非奇异终端滑模控制策略, 提出跟随领航者多机器人系统的协调控制方法，改善机器人的鲁棒性能及抗干扰能力，确保系统的可靠性和同步性；(3)研究跟随领航者多机器人系统的传感故障检测以及编队自修复控制方法，实现机器人高度智能化与自动化，促进系统的稳定性、实时性及控制精度。本项目探索复杂非结构环境下多机器人协调同步、编队自修复控制的相关理论方法创新和关键技术突破，弥补当前研究的不足，实现多机器人系统的安全稳定运行与高效节能，为多机器人系统协调控制提供新理论和新方法。

With the rapid development of robot technology strategy, it has brought new development opportunities for the theory and technology of multi-robot. The project considers a class of leader-follower multi-robot in order to solve the coordination synchronization and intelligent control two key scientific issues in multi-robot. The main research contents of this project are as follows: .1) Reveal the effect of multi-body multi-field coupling on the performance of multi-robot systems and construction coupling dynamics Hamilton model based on mixing data/mechanism to improve the running efficiency. .2)Proposes coordinated control method for leader-follower multi-robot system using the complex network synchronization theory and non-singular terminal sliding mode control strategy. Improve the robustness and anti-interference ability of the multi-robot, ensure the reliability and synchronization of multi-robot system;.3) Research on the real-time context-aware, fault sensing and formation self-repairing control of the leader-follower multi-robot system to achieve a high degree of intelligence and automation, promote the stability, real-time and control accuracy of the system..The project explores theory innovation and breakthroughs in the key technologies on the coordination synchronization and formation self-repairing control for leader-follower multi-robot under complex unstructured environment. The project applies research results will compensate for the lack of current research, achieve security and stability of multi-robot systems with energy-efficient, provide new theories and methods for the multi-robot control.