Title :
Reachability analysis for continuous systems under shared control: Application to user-interface design
Author :
Matni, Nikolai ; Oishi, Meeko
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of British Columbia, Vancouver, BC, Canada
Abstract :
We extend techniques for a reachability-based abstraction to continuous systems under shared control, that is, systems which have both inputs controlled by the automation and inputs controlled by the human, to account for potential interactions between the human and the automation that affect safety. We broadly classify human input as assisting the automated input, neutral, or fighting against the automated input, resulting in three types of invariance. Using standard reachability tools to calculate invariant, user-invariant, and user-assisted-invariant sets, regions in the state-space are associated with three levels of safety: (1) safe, (2) marginally safe, and (3) recoverably safe. By partitioning the state-space according to intersections of the invariant sets, we create an abstraction to a discrete event system of minimal cardinality which can inform the information content of a discrete user-interface that preserves information about the safety levels of the system. We apply the reachable set calculation and abstraction method to an aircraft landing under shared control.
Keywords :
aerospace safety; aircraft landing guidance; continuous systems; discrete event systems; nonlinear control systems; reachability analysis; state-space methods; user interfaces; aircraft landing; continuous systems; discrete event system; invariant set; marginally safe level; reachability analysis; reachability-based abstraction; reachable set abstraction method; reachable set calculation method; recoverably safe level; safe level; shared control; state-space partition; user interface design; user-assisted-invariant set; user-invariant set; Aerospace control; Aircraft; Automatic control; Automation; Continuous time systems; Control systems; Discrete event systems; Humans; Reachability analysis; Safety; discrete event systems; flight management systems; invariance; mixed-initiative; nonlinear systems; reachability analysis; shared control; user-interface;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400465