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      Effects of linear filter on stability and performance of human-in-the-loop model reference adaptive control architectures

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      Author(s)
      Yousefi, Ehsan
      Demir, Didem Fatma
      Sipahi, R.
      Yücelen, T.
      Yıldız, Yıldıray
      Date
      2017
      Source Title
      Proceedings of the ASME 2017 Dynamic Systems and Control Conference, DSCC 2017
      Publisher
      ASME
      Pages
      1 - 10
      Language
      English
      Type
      Conference Paper
      Item Usage Stats
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      191
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      Abstract
      Model reference adaptive control (MRAC) can effectively handle various challenges of the real world control problems including exogenous disturbances, system uncertainties, and degraded modes of operations. In human-in-the-loop settings, MRAC may cause unstable system trajectories. Basing on our recent work on the stability of MRAC-human dynamics, here we follow an optimization based computations to design a linear filter and study whether or not this filter inserted between the human model and MRAC could help remove such instabilities, and potentially improve performance. To this end, we present a mathematical approach to study how the error dynamics of MRAC could favorably or detrimentally influence human operator's error dynamics in performing a certain task. An illustrative numerical example concludes the study.
      Keywords
      Adaptive control systems
      Advanced driver assistance systems
      Advanced vehicle control systems
      Aerospace applications
      Automobile drivers
      Bandpass filters
      Intelligent robots
      Intelligent systems
      Linear control systems
      Machine design
      Mathematical operators
      Robotics
      Signal filtering and prediction
      Wind power
      Exogenous disturbances
      Human-in-the-loop
      Improve performance
      Mathematical approach
      Modes of operation
      Real world control
      System uncertainties
      Model reference adaptive control
      Permalink
      http://hdl.handle.net/11693/37569
      Published Version (Please cite this version)
      http://dx.doi.org/10.1115/DSCC2017-5001
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      • Department of Mechanical Engineering 330
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