Simulated results show that hierarchical decentralized control method has a good control effect with stabilization compared with the centralized control method.
对悬臂梁结构进行了控制稳定性仿真分析，将振动仿真结果与集中控制的结果进行对比分析。
Changing centralized control method to the centralized combining with distributed control method, HitMSRII can collect the whole information of the robot automatically without accessional sensors.
并将控制方式由原来的集中式改为集中式和分布式相结合的方式，使系统能在不增加传感器的情况下自动采集机器人的整体信息。
The research of micro-robotic technology is mainly centralized in system structure, kinetic energy supply, control method, communication technology and treading technology.
微型机器人技术的研究主要集中在系统结构、动能提供、控制方法、通信技术以及行走技术。
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