適応的協調に向けて：LQ微分ゲームを用いたモデルベース共有制御
Toward Adaptive Cooperation: Model-Based Shared Control Using LQ-Differential Games
人間と自動化が制御を共有する系で、人間のオンライン同定とLQ微分ゲームによる共有制御の適応を提案し、シミュレーションと人間参加型実験で有効性を示した論文。
著者: Balint Varga
分類: eess.SY, cs.RO, cs.SY, math.DS
原文アブストラクト
This paper introduces a novel model-based adaptive shared control to allow for the identification and design challenge for shared-control systems, in which humans and automation share control tasks. The main challenge is the adaptive behavior of the human in such shared control interactions. Consequently, merely identifying human behavior without considering automation is insufficient and often leads to inadequate automation design. Therefore, this paper proposes a novel solution involving online identification of the human and the adaptation of shared control using Linear-Quadratic differential games. The effectiveness of the proposed online adaptation is analyzed in simulations and compared with a non-adaptive shared control from the state of the art. Finally, the proposed approach is tested through human-in-the-loop experiments, highlighting its suitability for real-time applications.
