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

Date
2017
Advisor
Instructor
Source Title
Proceedings of the ASME 2017 Dynamic Systems and Control Conference, DSCC 2017
Print ISSN
Electronic ISSN
Publisher
ASME
Volume
Issue
Pages
1 - 10
Language
English
Type
Conference Paper
Journal Title
Journal ISSN
Volume Title
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.

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Book Title
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
Citation
Published Version (Please cite this version)