Njengebhulorho edibanisa ihlabathi elibonakalayo kunye nokwenza izigqibo ezikrelekrele-, iinkqubo zolawulo lwentshukumo zibamba ukubaluleka kwezenzululwazi ngaphaya kwendawo yezixhobo zobugcisa. Aziyontsika nje engundoqo ye-automation yemizi-mveliso kodwa zikwangumda kuphononongo loluntu lolawulo oluchanekileyo, ukulungelelaniswa okuguquguqukayo, kunye nokusebenzisana ngobukrelekrele. Badlala indima engenakuthathelwa indawo kwisayensi esisiseko, izicelo zobunjineli, kunye nophuhliso loluntu.
1. Ukutyhila iMithetho eBalulekileyo yeeNkqubo zeDynamic
Undoqo weenkqubo zolawulo lwentshukumo ilele kumzekelo ochanekileyo kunye nolawulo "longeniso{0}}lokuphendula" ubudlelwane. Ukusuka kwii-servomechanism kumatshini weklasikhi ukuya kwiinkqubo zangoku ze-multibody dynamics, uyilo lwabo lufuna ukuqonda okunzulu kweempawu ezidityanisiweyo ezingangqamaniyo zezinto zomzimba ezinje nge-inertia, ukukhuhlana, kunye nokuqina. Umzekelo, ukulawulwa komkhondo wokulandela umkhondo wokudityaniswa kweerobhothi kufuna ukuthathelwa ingqalelo kwangaxeshanye kokushukuma kweemoto, ukuguquguquka kololiwe, kunye nokwahluka komthwalo. Oku kuntsonkotha kuqhube iimpumelelo kwiindlela zokuqhawula unxulumano oluphezulu{4}loluhlu lweeequation zolungelelwaniso kunye nethiyori yozinzo eyomeleleyo. Ngokufaka iiparameters zenkqubo ukusuka kwii-algorithms zolawulo (ezifana nomkhi-mkhanyo{6}osekelwe kuchongo lobunzima), oosonzululwazi banokubhaqa iintshukumo ezifihlakeleyo ezingabanjwanga yimifuziselo yendalo yenyama{7}}ibonelela ngendawo yovavanyo yophando lwethiyori ngokubanzi kwiinkqubo ezintsonkothileyo ezingangqamani.
2. Ukukhuthaza ukuDityaniswa kobuChwepheshe kunye noTshintsho
Ulawulo lwentshukumo yinto ephambili "itekhnoloji enika amandla," ukuqhubela phambili kwayo kuhlala kubangela ukusabela kwekhonkco. Kwi-aerospace, i-miniaturization kunye nokuchaneka okuphezulu kwesimo sengqondo kunye neenkqubo zokulawula i-trajectory ziye zaqhuba ngokuthe ngqo izinto ezintsha kwi-MEMS sensors kunye ne-activators lightweight. Kwi-biomedicine, iirobhothi ze-exoskeleton eziqhutywa bubuchopho{2}ujongano lwekhompyuter luxhomekeke kwi-adaptive control algorithms ukuqaphela iinjongo zentshukumo zabantu abakhubazekileyo. Nokugcina i-ultra-imeko ezizinzileyo kwiikhompyuter ze-quantum kufuna i-nanometer{5}}inqanaba elichanekileyo elincinci{6}}amaqonga olawulo lokufuduswa. Ngokunzulu ngakumbi, ukudityaniswa kwethiyori yolawulo kunye nobukrelekrele bokwenziwa kuye kwavelisa iiparadigms ezintsha ezifana nolawulo lokuxela kwangaphambili imodeli (MPC) kunye nokufunda okomeleza ngokunzulu. Oku kwenza ukuba iisistim zifunde ngokuzimeleyo amaqhinga alungileyo kwidatha, yenza mfiliba imigca phakathi kwesiqhelo "{9}imithetho emiselweyo" kunye "nendaleko ezimeleyo."
3. Ukubeka iSiseko seNtsebenziswano yoMzimba kwiXesha loBukrelekrele
Ngokufika kweNguqulelo yesine yoShishino, ixabiso lezenzululwazi leenkqubo zokulawula intshukumo liye labonakala ngakumbi. Kwiimeko zokwenza izinto ezikrelekrele, iteknoloji yamawele edijithali ixhomekeke{1}}kwimpendulo yolawulo lwexesha lokwenyani ukuze ungqamanise imigca yemveliso yehlabathi{2} Iindlela ezininzi-zendawo yokudityaniswa kwezinzwa kwizithuthi ezizimeleyo kufuna isentimitha{5}}ukuchaneka komgangatho ngolungelelwaniso olulungelelanisiweyo lwesantya sevili, ukukhangela okunertial, kunye nolawulo olubonakalayo. Nokuba ukuhamba kwe-avatar ebonakalayo kwi-metaverse kufuna ulawulo oluphambeneyo lwe-kinematics ukuqinisekisa ukuhamba kwendalo. Imingeni engundoqo yezi zicelo ilele: indlela yokugcina ukuthembeka phakathi kokungaqiniseki (njengokuphazamiseka kokusingqongileyo kunye nengxolo yenzwa)? Indlela yokulinganisa ukusetyenziswa kwamandla, isantya, kunye nokuchaneka? Ukuphendula le mibuzo ngokusisiseko kwandisa imida yokuqonda komntu "ihlabathi elinokulawulwa ngokomzimba."
4. Iimpembelelo zefilosofi: Ukuphonononga iMida yoBantu{1}}iNtsebenziswano yeRobhothi
Enye yezona njongo ziphambili zenkqubo yokulawula intshukumo kukwenza ukuba oomatshini babenomntu-njengobuchule kunye nokuguquguquka. Xa iingalo zerobhothi zebhayomimetic zinokubuya ngokukhawuleza kwaye zizinzise ukubamba emva kontlitheko ngequbuliso, kwaye xa iirobhothi ezine-quadruped zoyise umhlaba omagingxigingxi ngokufunda okomeleza, sichaza ngokutsha ngokufanelekileyo indlela ebonakalayo "yobukrelekrele." Ezo nkqubo akufuneki zijongane kuphela neenjongo zemathematika ezicacileyo (ezifana nokunciphisa impazamo yokulandela umkhondo) kodwa zikwabandakanye neenqobo zobuntu (ezifana nokubeka phambili ukhuseleko). Olu tshintsho lobuchwepheshe luye lwabangela iintanda-bulumko neenjineli ukuba ziqwalasele ngokudibeneyo: Kwixesha elizayo elizenzekelayo, abantu kufuneka bayile njani isigqibo{4}}sokwenza ingqiqo yeenkqubo zolawulo? Ngaba i-algorithms yokulawula ingaba yindlela entsha "yobomi bedijithali"?
Ukusuka kwi-centrifugal governor u-Watt oqeshwe ukuphucula i-injini yomphunga ukuya kwi-millimeter{0}}ukubekwa okuchanekileyo kwezixhobo zerobhothi zesikhululo sanamhlanje sendawo yasemajukujukwini, ukubaluleka kwezenzululwazi kweenkqubo zolawulo lwentshukumo bekusoloko kunxulunyaniswa ngokusondeleyo nomnqweno woluntu wokutyhala imida yesakhono sabo. Kokubini kukufikelela kuvuthondaba lobuchwephesha bobunjineli kunye nembuyekezo yokufunyanwa kwezenzululwazi okusisiseko, kunye nendlela eyimfuneko kwikamva lohlanganiso lomatshini{2}}lomntu. Ngale ndlela, uphando kulawulo lwentshukumo aluzange luthintelwe ukwenza nje izinto zihambe ngokuchanekileyo, kodwa endaweni yoko iyaqhubeka nokuthandabuza ukuba singahamba ngobukrelekrele na kwihlabathi eliguqukayo.
