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1、JournaloflntelligentandRoboticSystems1:315-342,1989.31591989KluwerAcademicPublishers.PrintedintheNetherlands.TowardsIntelligentAutonomousControlSystems:ArchitectureandFundamentalIssuesP.J.ANTSAKLIS,K.M.PASSINODepartmentofElectricalandComputerEngineering,UniversityofNotreDame,No
2、treDame,IN46556,U.S.A.andS.J.WANGJetPropulsionLaboratory,MS198-326,4800OakGroveDrive,Pasadena,CA91109(Received:6July1988;revised:12December1988)Abstract.Autonomouscontrolsystemsaredesignedtoperformwellundersignificantuncertaintiesinthesystemandenvironmentforextendedperiodsoftime
3、,andtheymustbeabletocompensateforsystemfailureswithoutexternalintervention.Intelligentautonomouscontrolsystemsusetechniquesfromthefieldofarti-ficialintelligencetoachievethisautonomy.Suchcontrolsystemsevolvefromconventionalcontrolsystemsbyaddingintelligentcomponents,andtheirdevel
4、opmentrequiresinterdisciplinaryresearch.Ahierarchicalfunctionalintelligentautonomouscontrolarchitectureisintroducedhereanditsfunctionsaredescribedindetail.Thefundamentalissuesinautonomouscontrolsystemmodellingandanalysisarediscussed.Keywords.Automaticcontroltheory,autonomouscont
5、rol,intelligentcontrol,intelligentsystems,hierarchicalsystems,hybridsystems,artificialintelligence.1.IntroductionAutonomouscontrolsystemsmustperformwellundersignificantuncertaintiesintheplantandtheenvironmentforextendedperiodsoftimeandtheymustbeabletocompensateforsystemfailuresw
6、ithoutexternalintervention.Suchautonomousbehaviorisaverydesirablecharacteristicofadvancedsystems.Anautonomouscon-trollerprovideshigh-leveladaptationtochangesintheplantandenvironment.Toachieveautonomy,themethodsusedforcontrolsystemdesignshouldutilizeboth(i)algorithmic-numericmeth
7、ods,basedonthestate-of-the-artconventionalcontrol,identification,estimation,andcommunicationtheory,and(ii)decision-making-symbolicmethods,suchastheonesdevelopedincomputerscienceandspecificallyinthefieldofartificialintelligence(AI).Inadditiontosupervisingandtuningthecontrolalgori
8、thms,theautonomouscontrollermustalsoprovideahig
