Teleoperator control models: effects of time delay and imperfect system knowledge

The mathematical modeling of manually controlled teleoperator systems using the well-known optimal control model (OCM) is considered. An experienced human operator can be modeled as an optimal controller executing continuous control in an environment in which the system is subject to random external disturbances. The basic OCM theory is extended to allow the human operator to have an imperfect internal model of the system being controlled, and the effects of discrepancies between the system and human models are investigated. A mechanism for closed-form modeling of performance for systems equipped with predictor displays is also added to the original theory. To validate the model, model predictions are compared to the results of experiments with a simulated tetherless submersible. The experimental results show that the modified optimal control model (MOCM) holds promise as a tool for the design and analysis of teleoperated control systems