TY - JOUR
AU - Hohmann, Soeren
AB - Abstract: 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.
TI - Limited Information Shared Control: A Potential Game Approach
JF - Mathematics
DO - 10.48550/arXiv.2201.06651
DA - 2022-01-17
UR - https://www.deepdyve.com/lp/arxiv-cornell-university/limited-information-shared-control-a-potential-game-approach-1A0dOlkNRc
VL - 2022
IS - 2201
DP - DeepDyve
ER -