Nonlinear Observers for Human-in-the-loop Control Systems

<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>

Name thesis:degree_name

Master of Science in Engineering Physics

Level thesis:degree_level

Thesis - Open Access

Discipline thesis:degree_discipline

Physical Sciences

Year

2010

Author dc:creator

• McKinley, Samuel Kitchen

Contributors dc:contributor

• Sergey V. Drakunov
• Mahmut Reyhanoglu
• John M. Hughes

• nonlinear observers
• control systems
• Aviation
• Engineering Physics

Repository record dc:identifier

https://commons.erau.edu/db-theses/97

OAI identifier oai:identifier

oai:commons.erau.edu:db-theses-1143