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1、JournaloflntelligentandRoboticSystems1:315-342,1989.31591989KluwerAcademicPublishers.PrintedintheNetherlands.TowardsIntelligentAutonomousControlSystems:ArchitectureandFundamentalIssuesP.J.ANTSAKLIS,K.M.PASSINODepartmentofElectricalandComputerEngineering,
2、UniversityofNotreDame,NotreDame,IN46556,U.S.A.andS.J.WANGJetPropulsionLaboratory,MS198-326,4800OakGroveDrive,Pasadena,CA91109(Received:6July1988;revised:12December1988)Abstract.Autonomouscontrolsystemsaredesignedtoperformwellundersignificantuncertaintiesi
3、nthesystemandenvironmentforextendedperiodsoftime,andtheymustbeabletocompensateforsystemfailureswithoutexternalintervention.Intelligentautonomouscontrolsystemsusetechniquesfromthefieldofarti-ficialintelligencetoachievethisautonomy.Suchcontrolsystemsevolvef
4、romconventionalcontrolsystemsbyaddingintelligentcomponents,andtheirdevelopmentrequiresinterdisciplinaryresearch.Ahierarchicalfunctionalintelligentautonomouscontrolarchitectureisintroducedhereanditsfunctionsaredescribedindetail.Thefundamentalissuesinautono
5、mouscontrolsystemmodellingandanalysisarediscussed.Keywords.Automaticcontroltheory,autonomouscontrol,intelligentcontrol,intelligentsystems,hierarchicalsystems,hybridsystems,artificialintelligence.1.IntroductionAutonomouscontrolsystemsmustperformwellundersi
6、gnificantuncertaintiesintheplantandtheenvironmentforextendedperiodsoftimeandtheymustbeabletocompensateforsystemfailureswithoutexternalintervention.Suchautonomousbehaviorisaverydesirablecharacteristicofadvancedsystems.Anautonomouscon-trollerprovideshigh-le
7、veladaptationtochangesintheplantandenvironment.Toachieveautonomy,themethodsusedforcontrolsystemdesignshouldutilizeboth(i)algorithmic-numericmethods,basedonthestate-of-the-artconventionalcontrol,identification,estimation,andcommunicationtheory,and(ii)decis
8、ion-making-symbolicmethods,suchastheonesdevelopedincomputerscienceandspecificallyinthefieldofartificialintelligence(AI).Inadditiontosupervisingandtuningthecontrolalgorithms,theautonomouscontrollermustalsoprovideahig
