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Stability and robustness analysis for human pointing motions with acceleration under feedback delays
Author(s) -
Varnell Paul,
Malisoff Michael,
Zhang Fumin
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3593
Subject(s) - robustness (evolution) , control theory (sociology) , acceleration , computer science , feedback control , output feedback , stability (learning theory) , control engineering , artificial intelligence , engineering , physics , control (management) , classical mechanics , biology , machine learning , biochemistry , gene
Summary Pointer acceleration is often used in computer mice and other interfaces to increase the range and speed of pointing motions without sacrificing precision during slow movements. However, the effects of pointer acceleration are not yet well understood. We use a system perspective and feedback control to analyze the effects of pointer acceleration. We use a new pointer acceleration model connected in feedback with the vector integration to endpoint model for pointing motions. When there are no feedback delays, we prove global asymptotic stability of the closed loop system for a general class of acceleration profiles. We also prove robustness under delays and perturbations by building Lyapunov–Krasovskii functionals for delay systems, and we find state performance bounds using robust forward invariance with maximal perturbation sets. The results are relevant to designing pointing interfaces, and our simulations illustrate the good performance of our control under realistic operating conditions. Copyright © 2016 John Wiley & Sons, Ltd.