SYSYTEM SYNTHESIS UTILIZING FUTURE INFORMATION

未来信息在系统规划、控制策略的确定中起着非常重要的作用。利用未来期望信号的有效性已在作者撰写的参考文献“数字预览和预测控制”中得到了报道。在本研究中，不仅要利用未来信息进行动态控制系统的设计，还要进行系统总体设计的规划：期望信号的规划、路径和测量的规划。动态控制系统的虚拟期望信号设计方法。已开发利用未来的信息，并应用于实际控制系统。在机器人控制系统和机床控制系统的路径控制中，为了提高其性能，引入了虚拟轴。到目前为止，虽然还没有考虑如何设计动态控制系统的期望信号，但本研究提出了利用未来信息的有效设计方法。下一步是考虑在人类的指导下，根据自己的推理和判断进行工作的自主机器人，这是前面研究的发展。研究了基于行为的自主移动机器人的导航问题。首先，不给机器人任何关于环境的信息，然后机器人通过在环境中行走来获得关于环境的知识。在获得知识之后，他的目标就确定了。机器人利用所获得的知识制定计划以达到目标。假设环境是动态变化的。该研究可能揭示未来系统控制的新方向。

Future information plays very important role in system planning, determination of control strategy. Effectiveness of utilization of future desired signals has been reported in the reference "Digital Preview and Predictive Control" written by the author. In this research, future information should be utilized not only for the design of dynamic control system, but also planning for total system design : planning of desired signal, planning of path and measurements. Fictitous desired signal design method for the dynamic control system. has been developed utilizing future information and applied to real control system. In the path control in the robot control system and machine tool control system, fictitous axis is introduced in order to improve the performance. Until now, although how to design the desired signal of the dynamic control system has not been considered, effective design methods utilizing future information are proposed in this research. Moreover, an auotnomus robot which works based on his reasoning and judgment under human directions is next consideration, which is followed by development of the previuos research. Navigation of a behaivourbased autonomous mobile robot is considered. Firstly, no information about the environment is given to the robot, and then the robot gains his knowledge about the environment by walking around the environment. After obtaining the knowledge, his goal is set. The robot makes plan to reach the goal utilizing the knowledge obtained. Environments are assumed to change dynamically.New future direction of system control may be revealed by this research.