A flexible control structure based on constrained control is proposed to solve the problem of multi-robols formation architecture designing in the assumed mission of automatic minefield clearing. It utilizes the advantages of redundancy and impact resistance to enhance the adaptation to environmental perturbations. It utilizes filtering localization algorithm based on prediction, feedback and correction to generate the prestress of formation structure and enhance the system carrying capacity compatible with the appropriate formation shape. The multi-role allocation and collaboration model is used to improve the system performance. The experimental results show that the flexible structure of the multi-robots system adapts to environmental changes well. The system has good flexibility and survivability capabilities. Its robustness is improved and the control method based on flexible structure has good practical value.%针对区域雷场自动清扫的多机器人编队架构设计问题,提出一种带约束控制的柔性控制架构.利用柔性结构冗余大、抗冲击的特点提升系统对环境扰动的适应能力.利用预测加反馈校正的滤波定位算法产生队形结构预应力,与合适的编队形状相配合,增强系统承载力.利用多角色协作分工模式增强系统的执行性能.实验结果表明多机器人柔性结构能较好适应环境的变化,系统具有较强的灵活性和抗毁能力,且鲁棒性得到提高.基于柔性结构的控制方法具有较好的实际应用价值.
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