Infrastructure for a dual cooperative robotic manipulator system

目前的研究计划涉及设计一种新的自适应模糊控制器，该控制器在混合层次结构中运行，用于控制受建模不确定性和非结构化外部干扰影响的不确定多机械臂系统。接下来将介绍所提出的研究计划的不同方面。提出的研究目标包括：(a)开发和分析一种新型的自适应模糊控制器，以满足现代复杂协作机器人系统日益苛刻的设计要求。(b)开发和分析了一种新的分层控制体系结构，使智能控制器的计算资源分配更有效。然后考虑所采用的控制层次，分析了整体控制器的稳定性。(c)提高控制器的实时执行效率，使其易于集成到商用微芯片中。虽然我们的目标应用是在协作机械手系统领域，但这项研究工作的潜在发现肯定会为进一步发现复杂和不确定系统的控制铺平道路。

The current research proposal involves the design of a new family of adaptive fuzzy controllers that operate within a hybrid hierarchical structure for the control of ill-defined multi-manipulator systems subject to modeling uncertainties and unstructured external disturbances. The different aspects of the proposed research program are presented next. The objectives of the proposed research include: (a) Developing and analyzing a new type of adaptive fuzzy controllers to keep up with the increasingly demanding design requirements of modern complex cooperative robotic systems. (b) Developing and analyzing a novel hierarchical control architecture for a more efficient computational resource allocation of the intelligent controller. The stability of the overall controller is then analyzed taking into account the adopted control hierarchy. (c) Enhancing the controller's real-time execution efficiency to ease its integration within commercial micro-chips. Although our target application is in the field of cooperative manipulator systems, the potential findings of this research work will certainly pave the way in front of further discoveries in the control of complex and ill-defined systems in general.