Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control
CoRR(2024)
摘要
This paper focuses on the need for a rigorous theory of layered control
architectures (LCAs) for complex engineered and natural systems, such as power
systems, communication networks, autonomous robotics, bacteria, and human
sensorimotor control. All deliver extraordinary capabilities, but they lack a
coherent theory of analysis and design, partly due to the diverse domains
across which LCAs can be found. In contrast, there is a core universal set of
control concepts and theory that applies very broadly and accommodates
necessary domain-specific specializations. However, control methods are
typically used only to design algorithms in components within a larger system
designed by others, typically with minimal or no theory. This points towards a
need for natural but large extensions of robust performance from control to the
full decision and control stack. It is encouraging that the successes of extant
architectures from bacteria to the Internet are due to strikingly universal
mechanisms and design patterns. This is largely due to convergent evolution by
natural selection and not intelligent design, particularly when compared with
the sophisticated design of components. Our aim here is to describe the
universals of architecture and sketch tentative paths towards a useful design
theory.
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