Human-in-the-Loop: Terminal Constraint Receding Horizon Control with Human Inputs
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Chipalkatty, Rahul
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Abstract
This paper presents a control theoretic formulation
and optimal control solution for integrating human control
inputs subject to linear state constraints. The formulation
utilizes a receding horizon optimal controller to update the control effort given the most recent state and human control
input information. The novel solution to the corresponding
finite horizon optimal control problem with terminal constraint
is derived using Hilbert space methods. The control laws are
applied to two planar human-driven mass-cart pendula, where
the task is to synchronize the pendula's oscillations.
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Date
2010-05
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