延迟反馈控制需要内部前向模型
Delayed Feedback Control Requires an Internal Forward Model
摘要：
尽管植物的复杂性和感觉反馈的显著延迟，生物运动控制为困难的控制问题提供了高效的解决方案。这种延迟预计会导致非平凡的稳定性问题和缺乏鲁棒性的控制解决方案。然而，在正常操作条件下的生物系统中没有观察到这种困难。基于控制文献中的早期建议，该难题的可能解决方案是电动机系统在其自身内包含设备的前向模型（例如，ARM），其允许系统“模拟”和预测施加控制信号的效果。在这项工作中，我们正式定义了一个确定性控制问题的前向模型的概念，并提供简单的条件，意味着它的存在延迟反馈控制的任务。相对于以前的工作，主要是处理线性植物和二次费用函数，我们的研究结果适用于相当通用的控制系统，表明任何控制器（生物或其他），解决了一组任务，\emph{must}包含在本身的一个向前植物模型。我们认为，我们的研究结果提供了强有力的理论支持的必要性，在许多延迟控制问题的前向模型，这意味着他们不仅是有用的，而是强制性的，在一般条件下。
英文摘要：
Biological motor control provides highly effective solutions to difficult control problems in spite of the complexity of the plant and the significant delays in sensory feedback . Such delays are expected to lead to non trivial stability issues and lack of robustness of control solutions. However, such difficulties are not observed in biological systems under normal operating conditions. Based on early suggestions in the control literature, a possible solution to this conundrum has been the suggestion that the motor system contains within itself a forward model of the plant (e.g., the arm), which allows the system to `simulate' and predict the effect of applying a control signal. In this work we formally define the notion of a forward model for deterministic control problems, and provide simple conditions that imply its existence for tasks involving delayed feedback control. As opposed to previous work which dealt mostly with linear plants and quadratic cost functions, our results apply to rather generic control systems, showing that any controller (biological or otherwise) which solves a set of tasks, \emph{must} contain within itself a forward plant model. We suggest that our results provide strong theoretical support for the necessity of forward models in many delayed control problems, implying that they are not only useful, but rather, mandatory, under general conditions.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
