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Parameter design of switched assist controller for man–machine cooperative system with human behavior model based on hybrid system
Author(s) -
Okuda Hiroyuki,
Hayakawa Soichiro,
Suzuki Tatsuya,
Tsuchida Nuio
Publication year - 2011
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.20932
Subject(s) - controller (irrigation) , task (project management) , piecewise , control theory (sociology) , computer science , control engineering , hybrid system , cluster analysis , engineering , control (management) , artificial intelligence , machine learning , mathematics , mathematical analysis , systems engineering , agronomy , biology
Recently, the demand for man–machine cooperative systems has been growing in many industrial fields, particularly in cell production and in flexible manufacturing systems. In the design of man–machine cooperative systems, the characteristics of human behavior must be considered. This paper presents a new design strategy for a switched assist controller for a man–machine cooperative positioning task that takes into consideration a human behavior model based on a continuous/discrete hybrid dynamical system. First, the human behavior model is identified as a piecewise ARX model using k ‐means clustering and a support vector machine. Second, the switched assist system is designed as a switched impedance controller based on the identified hybrid human behavior model with optimization. The optimization was solved by performing a forward calculation of the closed loop response of the human behavior model and controller with a criterion reflecting the task time and the force effort. The results show that one can find the optimal parameters for a switched impedance controller. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 177(1): 55–64, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.20932