The development of models for a human-in-the-loop with hardware is an area of ongoing research. The ability to simulate a human-in-the-loop with hardware provides a platform for better understanding the dynamics of human and machine cognition. A human-in-the-loop model provides information that can be used to design more efficient human interfaces and smarter autonomous assistant controllers. This can make a complex task such as flying an aircraft safer and more accessible. This thesis explores different possibilities for human operator models to be modeled in the loop with a vehicle. A human is modeled as a linear state feedback controller in the loop with the task of controlling a simple solid ball. The human arm is modeled controlling a joystick as the human is considered to control the ball with a joystick. Nonlinear sliding mode observers are developed to estimate the gains of a feedback control law and nonlinear sliding mode observers are developed to estimate the torques on the shoulder, elbow, and joystick joints. The nonlinear observers are simulated on a human-in-the-loop system to show the accuracy of the observers.
","abstract_html":"<p>The development of models for a human-in-the-loop with hardware is an area of ongoing research. The ability to simulate a human-in-the-loop with hardware provides a platform for better understanding the dynamics of human and machine cognition. A human-in-the-loop model provides information that can be used to design more efficient human interfaces and smarter autonomous assistant controllers. This can make a complex task such as flying an aircraft safer and more accessible. This thesis explores different possibilities for human operator models to be modeled in the loop with a vehicle. A human is modeled as a linear state feedback controller in the loop with the task of controlling a simple solid ball. The human arm is modeled controlling a joystick as the human is considered to control the ball with a joystick. Nonlinear sliding mode observers are developed to estimate the gains of a feedback control law and nonlinear sliding mode observers are developed to estimate the torques on the shoulder, elbow, and joystick joints. The nonlinear observers are simulated on a human-in-the-loop system to show the accuracy of the observers.</p>","abstract_has_math":false,"creators":["McKinley, Samuel Kitchen"],"institution":null,"degree_name":"Master of Science in Engineering Physics","degree_level":"Thesis - Open Access","degree_discipline":"Physical Sciences","degree_department":null,"school":null,"contributors":["Sergey V. Drakunov","Mahmut Reyhanoglu","John M. Hughes"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2010,"date_issued":"2010-07-01T07:00:00Z","date_published":"2010-07-01T07:00:00Z","updated_at":"2026-07-27T19:25:45Z","subjects":["nonlinear observers","control systems","Aviation","Engineering Physics"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://commons.erau.edu/db-theses/97","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Sergey V. Drakunov","Mahmut Reyhanoglu","John M. Hughes"]},{"key":"dc:creator","label":"Author","values":["McKinley, Samuel Kitchen"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"thesis:degree_discipline","label":"Discipline","values":["Physical Sciences"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis - Open Access"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science in Engineering Physics"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["nonlinear observers","control systems","Aviation","Engineering Physics"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://commons.erau.edu/db-theses/97"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["The development of models for a human-in-the-loop with hardware is an area of ongoing research. The ability to simulate a human-in-the-loop with hardware provides a platform for better understanding the dynamics of human and machine cognition. A human-in-the-loop model provides information that can be used to design more efficient human interfaces and smarter autonomous assistant controllers. This can make a complex task such as flying an aircraft safer and more accessible. This thesis explores different possibilities for human operator models to be modeled in the loop with a vehicle. A human is modeled as a linear state feedback controller in the loop with the task of controlling a simple solid ball. The human arm is modeled controlling a joystick as the human is considered to control the ball with a joystick. Nonlinear sliding mode observers are developed to estimate the gains of a feedback control law and nonlinear sliding mode observers are developed to estimate the torques on the shoulder, elbow, and joystick joints. The nonlinear observers are simulated on a human-in-the-loop system to show the accuracy of the observers.
"]},{"key":"dc:title","label":"Title","values":["Nonlinear Observers for Human-in-the-loop Control Systems"]}]}],"canonical_facts":{"dc:contributor":["Sergey V. Drakunov","Mahmut Reyhanoglu","John M. Hughes"],"dc:creator":["McKinley, Samuel Kitchen"],"dc:description.abstract":["The development of models for a human-in-the-loop with hardware is an area of ongoing research. The ability to simulate a human-in-the-loop with hardware provides a platform for better understanding the dynamics of human and machine cognition. A human-in-the-loop model provides information that can be used to design more efficient human interfaces and smarter autonomous assistant controllers. This can make a complex task such as flying an aircraft safer and more accessible. This thesis explores different possibilities for human operator models to be modeled in the loop with a vehicle. A human is modeled as a linear state feedback controller in the loop with the task of controlling a simple solid ball. The human arm is modeled controlling a joystick as the human is considered to control the ball with a joystick. Nonlinear sliding mode observers are developed to estimate the gains of a feedback control law and nonlinear sliding mode observers are developed to estimate the torques on the shoulder, elbow, and joystick joints. The nonlinear observers are simulated on a human-in-the-loop system to show the accuracy of the observers.
"],"dc:identifier":["https://commons.erau.edu/db-theses/97"],"dc:subject":["nonlinear observers","control systems","Aviation","Engineering Physics"],"dc:title":["Nonlinear Observers for Human-in-the-loop Control Systems"],"thesis:degree_discipline":["Physical Sciences"],"thesis:degree_level":["Thesis - Open Access"],"thesis:degree_name":["Master of Science in Engineering Physics"]},"updated_at":"2026-07-27T19:25:45Z"}