Hybrid control methodology with applications to robotic integrated systems

The paper employs the Hybrid Communicated Sequential Programming Language, HCSP, for specification of a robotic integrated system. Robots and their peripheral equipment construct a typical hybrid system which has many phase transitions between control laws driven by the internal or external events. Using a hybrid control methodology can not only elucidate the issues clearly but also make the hybrid controller perform better during the control process. Based on the hybrid control method, an experiment which involves robots and their peripheral equipment has been made in our laboratory.