鎶€琛�(sh霉)闋婚亾

濞撳〒宸ユキ(y猫)
鎮ㄧ従(xi脿n)鍦ㄧ殑浣嶇疆锛� 涓湅鍌冲嫊(d貌ng)缍�(w菐ng) > 鎶€琛�(sh霉)闋婚亾 > 鎶€琛�(sh霉)鐧剧 > 鎺у埗绉戝(xu茅)鑸囨妧琛�(sh霉)鐨勭櫦(f膩)灞曞強鍏舵€濊€�

鎺у埗绉戝(xu茅)鑸囨妧琛�(sh霉)鐨勭櫦(f膩)灞曞強鍏舵€濊€�

鏅�(sh铆)闁擄細2006-08-02 10:10:00渚嗘簮锛歸angsl

灏�(d菐o)瑾烇細?瑷庤珫浜嗗偝绲�(t菕ng)鎺у埗鐞嗚珫鍦ㄨВ姹哄(sh铆)闅涘晱椤屼腑鐨勪竴浜涘眬闄愭€т互鍙婃帶鍒剁瀛�(xu茅)鐣�(d膩ng)鍓嶉潰鑷ㄧ殑鎸戞埌(zh脿n)
鍠綅锛氳タ瀹変氦閫氬ぇ瀛�(xu茅)浜哄伐鏅鸿兘鑸囨(j墨)鍣ㄤ汉鐮旂┒鎵€ 瑗垮畨 710049 锛圗-mail: nnzheng@mail.xjtu.edu.cn锛� 鎽� 瑕� 绨¤浠嬬垂浜嗘帶鍒剁瀛�(xu茅)鐨勭櫦(f膩)灞�?f脿n)椤﹔锛涜◣璜栦簡鍌崇当(t菕ng)鎺у埗鐞嗚珫鍦ㄨВ姹哄(sh铆)闅涘晱椤屼腑鐨勪竴浜涘眬闄愭€т互鍙婃帶鍒剁瀛�(xu茅)鐣�(d膩ng)鍓嶉潰鑷ㄧ殑鎸戞埌(zh脿n)锛涢棥杩颁簡鎺у埗绉戝(xu茅)鑸囦汉宸ユ櫤鑳藉拰瑾�(r猫n)鐭ョ瀛�(xu茅)绛夋柊鑸堝(xu茅)绉戠殑绲�(ji茅)鍚堝皣灏�(du矛)铏曠悊寰�(f霉)闆滅郴绲�(t菕ng)鍜岀ぞ鏈�(hu矛)缍�(j墨ng)婵�(j矛)涓殑涓€浜涢噸澶ц椤屾彁渚涙湁鍍�(ji脿)鍊肩殑绉戝(xu茅)鐞嗚珫鍜屾柟娉�锛涘挤(qi谩ng)瑾�(di脿o)浜嗘帶鍒剁瀛�(xu茅)鐨勯€�(j矛n)涓€姝ョ櫦(f膩)灞曚粛鐒惰渚濊炒浜庨噸澶ч渶姹傚皫(d菐o)鍚�锛屼娇鍏跺湪鎴戝湅淇℃伅鍖栧付鍕�(d貌ng)宸ユキ(y猫)鍖栧拰鐝�(xi脿n)浠e寲鐨勯€�(j矛n)绋嬩腑鐧�(f膩)鎻噸瑕佺殑浣滅敤銆� 闂�(gu膩n)閸佃 缍�(j墨ng)鍏告帶鍒�锛屾櫤鑳芥帶鍒�锛屼汉宸ユ櫤鑳�锛屾櫤鑳戒俊鎭檿鐞� A Survey Of Control Science And Technology ZHENG Nan-Ning JIA Xin-Chun YUAN Ze-Jian 锛圛nstitute of the artificial Intelligence and Robotics, Xi鈥檃n Jiaotong University, Xi鈥檃n 710049锛� 锛圗-mail: nnzheng@mail.xjtu.edu.cn锛� Abstract In this paper, the development of control science is briefly introduced, and the limitations of traditional control theory and the challenge that control science faces are discussed. It is shown that integrating control science with artificial intelligence and cognitive science will provide valuable theories and methods for solving some important and knotty problems in complex systems and social economy. To insist on the demand-driven policy for further developing control science and technology will play an increasingly important role in the process of promoting and accelerating Chinese information industrialization and driving industrialization and modernization by information. Key words Classical control, intelligence control, artificial intelligence, intelligence information processing 1 鎺у埗绉戝(xu茅)鑸囨妧琛�(sh霉)鐨勭櫦(f膩)灞�?f脿n)椤﹔ 鎺у埗绉戝(xu茅)鑸囨妧琛�(sh霉)鍦�20涓栫磤(j矛)鐨勪汉椤炵鎶€閫�(j矛n)姝ヤ腑璧峰埌浜嗚垑瓒宠紩閲嶇殑浣滅敤锛岀偤浜嗚В姹虹暥(d膩ng)浠婄ぞ鏈�(hu矛)鐨勮ū澶氭寫鎴�(zh脿n)鎬у晱椤岀敘(ch菐n)鐢熶簡绌嶆サ鐨勫奖闊�锛屾彁渚涗簡绉戝(xu茅)鐨勬€濇兂鏂规硶璜�锛涚偤瑷卞鐢�(ch菐n)妤�(y猫)闋�(l菒ng)鍩�?q奴)宕縁(xi脿n)鑷嫊(d貌ng)鍖栧瀹氫簡鐞嗚珫鍩虹(ch菙)锛屾彁渚涗簡鍏堥€�(j矛n)鐨勭敓鐢�(ch菐n)鎶€琛�(sh霉)鍜屽厛閫�(j矛n)鐨勬帶鍒跺剙鍣ㄥ強瑁濆倷銆傜壒鍒ユ槸鏁�(sh霉)瀛楄▓(j矛)绠楁(j墨)鐨勫唬娉涗娇鐢�锛岀偤鎺у埗绉戝(xu茅)鑸囨妧琛�(sh霉)闁嬭緹浜嗘洿寤f硾鐨勬噳(y墨ng)鐢ㄩ牁(l菒ng)鍩熴€� 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