A generalized human-in-the-loop stability analysis in the presence of uncertain and redundant actuator dynamics

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buir.contributor.authorYildiz, Yildiray
buir.contributor.orcidYildiz, Yildiray| 0000-0001-6270-5354
dc.citation.epage664en_US
dc.citation.spage659en_US
dc.contributor.authorTohidi, Seyed Shahabaldin
dc.contributor.authorYildiz, Yildiray
dc.date.accessioned2023-02-25T20:23:58Z
dc.date.available2023-02-25T20:23:58Z
dc.date.issued2022-06-08
dc.departmentDepartment of Mechanical Engineeringen_US
dc.description.abstractThis paper demonstrates the stability limits of a human-in-the-loop closed loop control system, where the plant to be controlled has redundant actuators with uncertain dynamics. The human operator is modeled as a general transfer function, unlike earlier work where specific filters are associated with human reactions. This helps with developing a more general stability analysis, and earlier studies can be considered as special cases of the proposed framework in this paper. Adaptive control allocation is employed to distribute control signals among redundant actuators. A sliding mode controller with a time-varying sliding surface provides desired control inputs to the control allocator. A flight control task, where the pilot controls the pitch angle via a pitch rate stick input is simulated to demonstrate the accuracy of the stability analysis. The Aerodata Model in Research Environment is used as the uncertain, over-actuated aircraft model.en_US
dc.description.provenanceSubmitted by Mandana Moftakhari (mandana.mir@bilkent.edu.tr) on 2023-02-25T20:23:58Z No. of bitstreams: 1 A_Generalized_Human-In-The-Loop_Stability_Analysis_in_the_Presence_of_Uncertain_and_Redundant_Actuator_Dynamics.pdf: 510872 bytes, checksum: de6d88f898537360fb5dc4f44d53362d (MD5)en
dc.description.provenanceMade available in DSpace on 2023-02-25T20:23:58Z (GMT). No. of bitstreams: 1 A_Generalized_Human-In-The-Loop_Stability_Analysis_in_the_Presence_of_Uncertain_and_Redundant_Actuator_Dynamics.pdf: 510872 bytes, checksum: de6d88f898537360fb5dc4f44d53362d (MD5) Previous issue date: 2022-06-08en
dc.identifier.doi10.23919/ACC53348.2022.9867751en_US
dc.identifier.urihttp://hdl.handle.net/11693/111749
dc.language.isoEnglishen_US
dc.publisherAmerican Automatic Control Councilen_US
dc.relation.isversionofhttps://doi.org/10.23919/ACC53348.2022.9867751en_US
dc.source.titleAmerican Control Conferenceen_US
dc.titleA generalized human-in-the-loop stability analysis in the presence of uncertain and redundant actuator dynamicsen_US
dc.typeConference Paperen_US

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