天津大学现代控制理论2

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1、PhysicalthingswithstatesthatevolveintimeTianjinUniversityObjective:InteractwithadynamicalsystemtoObjective:Interactwithadynamicalsystemtoachievedesiredgoalsachievedesiredgoals©Stabilizenuclearreactorwithinsafetylimits©Flyaircraftminimizingfuelconsumption©Pick

2、upglasswithoutspillinganymilk...MeasuresofoptimalityTianjinUniversityExample:Example:ProstheticsProstheticsÆÆbionicsbionics©Problem:Problem:Makealegthatknowswhentobend.Makealegthatknowswhentobend.©Inputs:Inputs:©Kneeangle.Kneeangle.©Ankleangle.Ankleangle.©Gro

3、undpressure.Groundpressure.©Stumppressures.Stumppressures.©Outputs:Outputs:©VariablejointstiffnessandVariablejointstiffnessanddampingdampingTianjinUniversityControlExample:ControlExample:MotorcontrolMotorcontrolPlantPlant(controlledsystem):hand(controlledsyst

4、em):handControllerController:NervousSystem:NervousSystemControlobjectiveControlobjective::Taskdependent(e.g.hitball)Taskdependent(e.g.hitball)PlantInputsPlantInputs:Neuralmuscleactivationsignals.:Neuralmuscleactivationsignals.PlantOutputsPlantOutputs:Visual,:

5、Visual,ProprioceptiveProprioceptive,...,...PlantStatePlantState:Positions,velocities,muscle:Positions,velocities,muscleactivations,availableenergyactivations,availableenergy……ControllerInputControllerInput::NoisyNoisysensoryinformationsensoryinformationContro

6、llerOutputControllerOutput::NoisyNoisyneuralpatternsneuralpatternsTianjinUniversityModelingMotorControlModelingMotorControlControlTaskGoalSignalsBrainHandNeuralcontrollerplantPatternObservationssensoryFeedbackDetailsDetails……TianjinUniversityOptimalMovementsO

7、ptimalMovements©ControlObjectiveControlObjective:Reachfrom:Reachfromaatotobb..©FactFact::morethanonewaytoskinacat...morethanonewaytoskinacat...©HowtochooseHowtochoose:Addoptimalityprinciple:Addoptimalityprinciple©E.g.optimalityprincipleE.g.optimalityprinciple

8、::MinimumvarianceatMinimumvarianceatbb..©ModelingModelingassumption(sassumption(s))::Controlisnoisy:Controlisnoisy:noisenoise//

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