Hard limits on robust control over delayed and quantized communication channels with applications to sensorimotor control
Hard limits on robust control over delayed and quantized communication channels with applications to sensorimotor control
复制标题
对延迟和量化通信通道的鲁棒控制与感觉运动控制应用的硬性限制
DOI：
--
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
J. Doyle
中科院分区：
文献类型：
--
作者：
Yorie Nakahira;N. Matni;J. Doyle
现代观点认为，神经系统是一种以感觉运动控制和内稳态为目的的分层分布式计算和通信，实验证据较多，但理论基础不足，未解决不同成分与复杂行为之间的联系。作为一个简单的起点，我们解决了一个基本的权衡，当使用具有延迟和量化误差的通信进行鲁棒控制时，这在人类和动物神经系统中都是非常异构和高度受限的。这产生了令人惊讶的简单和紧密的分析界限，对困难权衡，最佳编码和控制策略以及它们与众所周知的生理和行为的关系有清晰的解释和见解。这些结果类似于实验家解释他们发现的非正式推理，但与基于信息论和统计物理学的推理（它们主导了理论神经科学）非常不同。简单的分析结果及其证明扩展到更一般的模型，代价是较少的洞察力和非平凡（但仍然是可伸缩的）计算。它们也与某些网络物理系统相关，尽管不那么引人注目。
The modern view of the nervous system as layering distributed computation and communication for the purpose of sensorimotor control and homeostasis has much experimental evidence but little theoretical foundation, leaving unresolved the connection between diverse components and complex behavior. As a simple starting point, we address a fundamental tradeoff when robust control is done using communication with both delay and quantization error, which are both extremely heterogeneous and highly constrained in human and animal nervous systems. This yields surprisingly simple and tight analytic bounds with clear interpretations and insights regarding hard tradeoffs, optimal coding and control strategies, and their relationship with well known physiology and behavior. These results are similar to reasoning routinely used informally by experimentalists to explain their findings, but very different from those based on information theory and statistical physics (which have dominated theoretical neuroscience). The simple analytic results and their proofs extend to more general models at the expense of less insight and nontrivial (but still scalable) computation. They are also relevant, though less dramatically, to certain cyber-physical systems.