THE PROBLEM OF GROUP CONTROL HIERARCHICAL STRATEGIES DESIGN FOR ROBOTICS SYSTEMS
In the paper we propose the new approach to hierarchical control system design for groups of robotics systems based on using of nonlinear math. models of explored system motion. By using of synergetics ideology, we can perform a natural dynamics decomposition of complex nonlinear multilinked system on a variety of interacted sub-systems. Here, as a result of synergetics design procedure, each of sub-system (or their groups) is embedded on the intersection of corresponding local attractors, i.e. invariant manifolds reflecting particular subset of targets. And the whole system is embedding into the global attractor that corresponds to initial subset of targets. While designing the coordinating regulator, we account the behavior of sub-systems, that are situated on the lower levels, as an equations describe their residual dynamics, i.e. behavior on local attractors (invariant manifolds). Application of the proposed ideology of robotics system group control strategies hierarchical design provides synthesis of control sub-system on the each level of hierarchy that can realize the corresponding target function and guarantee the asymptotic stability of subsystem behavior.