The Research Of Schema Theory And Its Application In Control Of Complex Systems

Having been developed for over 100 years, control theory has made a great success in describing relative simple systems. But there are more complex systems in real life, such as complex industrial production processes, computer integrated manufacturing systems, intelligent robot systems, etc. It is urgent for control theory to make a remarkable progress in the control of complex systems. At the same time, complexity science has made a success in describing, simulating complex systems and applying these achievements in discussing evolution of complex systems and their essence of function, but it is incapable of controlling these complex systems. Therefore control theory and complexity science tend to the research of the same problem, that is, control of complex systems.Under this background and based on analyzing schema theory and Human Simulated Intelligent Control(HSIC) theory in detail, we try to establish HSIC theory fit for the control of complex systems, that is, Sensory-Motor Intelligent Schemas based HSIC(SMIS-HSIC). The main works of this dissertation are shown as follows:(1) We summarize schema theory in cognitive science and artificial intelligence. Based on the comprehension of other researchers, we put forward a preciser and more detailed definition of schema, which is of instructional and canonical significance to the successive researches of this project.(2) We discuss the possibilities, research contents and key problems of applying schema theory to the control of complex systems. We study SMIS from point of view of combining schema with kinesthetic intelligence, that is, Bodily Kinesthetic Intelligent Schema(BKIS). We analyze architecture of human body control system, and put forward the thought of imitating human body control system from BKIS point of view.(3) We analyze Motor Schema method, which is a ralative mature technology and widely used in design of control architecture of robots, and from which we can distill the thoughts in qualitatively and quantificationally describing schemas.(4) We introduce basic theory of schemas in learning and evolution, that is, genetic algorithm. We discuss the definition of schemas, several relative concepts and schema theorem in genetic algorithm. Algorithms research of SMIS in assimilation, accommodation and learning is one of the main works of successive researches.(5) The emphasis of this dissertation lies in establishing SMIS-based HSIC, including describing perceptual schemas, motor schemas,associated schemas and SMIS qualitatively and quantificationally, giving their structures and detailed definitions, discussing basic thoughts, difficult problems of SMIS based HSIC theory, discussing design steps of SMIS-based HSIC controller, etc. At last, we give an example, that is,swinging up and handstand control of cart-double pendulum system, to illuminate design method of SMIS based HSIC controller.