Manual control of a nonholonomic system by multiple predictor-controller pair architecture

Shinpei Kato, Takakuni Goto, Noriyasu Homma, Makoto Yoshizawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Humans can often conduct both linear and nonlinear control tasks after a sufficient number of trials, even if they initially do not have sufficient knowledge about the system's dynamics and the way to control it. Theoretically, it is well known that some nonlinear systems cannot be stabilized asymptotically by any linear controllers. However, there is a possibility that human may use a linear control scheme for nonlinear control tasks. The hypothesis proposed in this paper is that humans switch the linear controllers with a virtual constraint. Each controller is responsible for a small region where the linear approximation can work well for nonlinear tasks. It is suggested that the proposed virtual constraint can play an important role to overcome a limitation of the linear controllers.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages5036-5039
Number of pages4
Publication statusPublished - 2009 Dec 1
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: 2009 Aug 182009 Aug 21

Publication series

NameICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period09/8/1809/8/21

Keywords

  • Controllability
  • Manual control
  • Multiple model-based reinforcement learning
  • Nonholonomic system

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

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