Title :
Washout control for manual operations
Author :
Takimoto, Takashi ; Yamamoto, Shigeru ; Oku, Hiroshi
Author_Institution :
Dept. of Syst. Innovation, Osaka Univ., Toyonaka, Japan
Abstract :
It is known that limitations of human accuracy in manual manipulation hinder the quality of work performed by human operators of manual control systems. Indeed, movements of operators are apt to cause undesirable vibrations in manual control systems. In this paper, we propose a new operator-support-control scheme for suppressing harmful oscillatory motions in such systems without disturbing human operator´s manipulation. The proposed scheme is based on the fact that steady-state blocking zeros of a feedback controller do not affect the steady-state control input. A finite-dimensional feedback controller with steady-state blocking zeros, called a washout controller in this paper, plays the central role in support for operator´s manipulation. However, the dynamics of a manual control system may become different significantly from its initial model used for the design of an initial washout controller when it is applied to the manual control system. Such difference can result in poor performance of operator-support-control. In order to improve it, an iterative procedure is presented for re-design of washout controllers based on closed-loop subspace identification. Closed-loop identification is performed to brush up the model for the control design, and then a more sophisticated washout controller is obtained using the identified model. The effectiveness of the proposed scheme is demonstrated by an experiment on manual control of an inverted pendulum.
Keywords :
closed loop systems; control system synthesis; feedback; manipulators; multidimensional systems; nonlinear control systems; pendulums; vibration control; closed-loop subspace identification; control design; finite-dimensional feedback controller; human accuracy; inverted pendulum; manual control systems; manual manipulation; manual operations; operator-support-control scheme; oscillatory motions; steady-state blocking zeros; steady-state control input; vibrations; washout control; Adaptive control; Closed loop systems; Human factors; Steady-state; Technological innovation; Transfer functions; Vibrations;
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6