tailieunhanh - An Introduction to Intelligent and Autonomous Control-Chapter 6: Nested Hierarchical Control

Tham khảo tài liệu 'an introduction to intelligent and autonomous control-chapter 6: nested hierarchical control', công nghệ thông tin, quản trị web phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 6 Nested Hierarchical Control A. Meystel Drexel University Philadelphia PA 19104 e-mail meysteam @ duvm. ocs. drexel. edu Abstract In this paper the theoretical foundations are outlined of decision making in the class of control systems which allows for using nested representation and nested algorithms of control processes. As a result nested hierarchies of multiresolutional multiscale multigranular control structures are generated. The core of the theory of nested hierarchical control is based upon a concept of nested hierarchical knowledge organization which enables efficient practice of design and control using nested search in the state 1. INTRODUCTION OVERVIEW OF THE AREA. Control hierarchies that came from the 60-s 1-3 were based on the idea of system partitioning. G. Saridis conceptual snapshot of the situation in the area of hierarchical control 4 reveals some of the major features typical for the hierarchical control systems controller at the top of the system controls the process as a whole controllers at the bottom control the subprocesses the latter should be coordinated. On the other hand controller at the top is imprecise it deals with the process at the level of linguistic descriptions controller in the middle is more precise but it is still a fuzzy controller controllers at the bottom have the required precision. J. Albus noticed that the structure of a hierarchical controller is similar to the structure of brain functioning and that the hierarchy is generated as a result of task decomposition 5 . G. Giralt R. Sobek and R. Chatila are applying the 130 INTELLIGENT AND AUTONOMOUS CONTROL task decomposition to the problem of mobile robot control 6 . It becomes clear that a hierarchy of functioning evokes not only a need in hierarchical decomposition of tasks but also a hierarchical decomposition of maps representations . J. Albus outlines for the area of robotics 7 the structures of brain functioning hierarchical control as the three interacting .