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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2022
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2201.06651 |
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| _version_ | 1866916454891257856 |
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| author | Varga, Balint Inga, Jairo Hohmann, Soeren |
| author_facet | Varga, Balint Inga, Jairo Hohmann, Soeren |
| contents | This paper presents a systematic method for the design of a limited information shared control (LISC). LISC is used in applications where not all system states or reference trajectories are measurable by the automation. Typical examples are partially human-controlled systems, in which some subsystems are fully controlled by automation while others are controlled by a human. The proposed systematic design method uses a novel class of games to model human-machine interaction: the near potential differential games (NPDG). We provide a necessary and sufficient condition for the existence of an NPDG and derive an algorithm for finding a NPDG that completely describes a given differential game. The proposed design method is applied to the control of a large vehicle-manipulator system, in which the manipulator is controlled by a human operator and the vehicle is fully automated. The suitability of the NPDG to model differential games is verified in simulations, leading to a faster and more accurate controller design compared to manual tuning. Furthermore, the overall design process is validated in a study with sixteen test subjects, indicating the applicability of the proposed concept in real applications. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2201_06651 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Limited Information Shared Control: A Potential Game Approach Varga, Balint Inga, Jairo Hohmann, Soeren Systems and Control Dynamical Systems This paper presents a systematic method for the design of a limited information shared control (LISC). LISC is used in applications where not all system states or reference trajectories are measurable by the automation. Typical examples are partially human-controlled systems, in which some subsystems are fully controlled by automation while others are controlled by a human. The proposed systematic design method uses a novel class of games to model human-machine interaction: the near potential differential games (NPDG). We provide a necessary and sufficient condition for the existence of an NPDG and derive an algorithm for finding a NPDG that completely describes a given differential game. The proposed design method is applied to the control of a large vehicle-manipulator system, in which the manipulator is controlled by a human operator and the vehicle is fully automated. The suitability of the NPDG to model differential games is verified in simulations, leading to a faster and more accurate controller design compared to manual tuning. Furthermore, the overall design process is validated in a study with sixteen test subjects, indicating the applicability of the proposed concept in real applications. |
| title | Limited Information Shared Control: A Potential Game Approach |
| topic | Systems and Control Dynamical Systems |
| url | https://arxiv.org/abs/2201.06651 |