On control system design of a human-machine cooperative system considering self-shaping characteristics of its human operator and recognition of object dynamics variation

This paper deals with control of human-machine cooperative systems considering maneuverability for their human operators. At first, the general structure and the parameterization of the controlled systems are outlined. Second, it is experimentally verified that self-shaping characteristics of a human operator exists in a human-machine cooperative system similarly in manual control systems and that the characteristics can be used for specifying desirable frequency characteristics of the maneuver transfer function, a transfer function from operational force to motion of object at the operational point. Then, a control design procedure that specifies two closed-loop transfer functions of the controlled system independently is proposed. On the procedure, the maneuver transfer function of object dynamics variation is also specified considering recognition of the variation. Finally, experiments on human-machine cooperative task carried out, and the validity of the proposed design procedure is confirmed.