智能控制及其在机器人领域的应用

Intelligent Control and Its Application in Robotics

从认识论和方法论的角度、学科交叉、控制对象、系统设计、知识获取等方面分析了智能控制与传统控制的区别。指出智能控制的优势是具有开放的、分级的、分布式的结构,有较强的综合信息处理能力,善于处理模型具有不确定性、高度非线性、复杂的控制任务。它的不足是理论基础还处在发展阶段,控制精度不高,实时性较差。提出了智能控制今后的发展应当是多种智能控制方法集成和智能控制与传统控制结合的思想。

The differences between intelligent and automatic control are given from the aspects of epistemology,methodology,interdisciplinary,objects controlled,system design and knowledge acquisition.The excellences and limitations about intelligent control are illustrated.The control system has exoteric layered distributed structure and can manage complex information.The system can manage complex non-linear object with uncertain model excellently.Some main means of intelligent control are discussed.Some suggestions for the future research about intelligent control are put forward.When control system is designed,intelligent and automatic control methods should be integrated.