Adaptive Human Pilot Model for Uncertain Systems

Abstract

Inspired by humans' ability to adapt to changing environments, this paper proposes an adaptive human model that mimics the crossover model despite input bandwidth deviations and plant uncertainties. The proposed human pilot model structure is based on the model reference adaptive control, and the adaptive laws are obtained using the Lyapunov-Krasovskii stability criteria applied to the overall closed loop system including the human pilot and the plant. The proposed model can be employed for human-in-the-loop stability and performance analyses with different controllers and plant types. A numerical example is used to demonstrate the effectiveness of the presented method.

Shared Control Between Pilots and Autopilots: An Illustration of a Cyberphysical Human System

“…When extreme events and failures occur, human pilots are known to adapt themselves to changing environmental conditions, which overstep the boundaries of automated systems. Since the hallmark of any autonomous system is its ability to self-govern (even under emergency conditions), modeling of the pilot decision making upon the occurrence of an anomaly is indispensable, and examples are present in the literature [1]- [3], [11]- [13], [38], [39]. This article assumes that the anomalies can be modeled either as an abrupt change in the vehicle dynamics [1]- [3], [11], [12], [39] or a loss of control effectiveness in the control input [13], [38].…”

“…Since the hallmark of any autonomous system is its ability to self-govern (even under emergency conditions), modeling of the pilot decision making upon the occurrence of an anomaly is indispensable, and examples are present in the literature [1]- [3], [11]- [13], [38], [39]. This article assumes that the anomalies can be modeled either as an abrupt change in the vehicle dynamics [1]- [3], [11], [12], [39] or a loss of control effectiveness in the control input [13], [38]. In either case, the objective is the modeling of the decision making of the pilot so as to elicit a resilient performance from the aircraft and recover rapidly from the impact of the anomaly.…”

An Adaptive Human Pilot Model for Adaptively Controlled Systems

“…A prominent adaptive human pilot model is the one proposed in [4] and [5], where the adaptation laws are based on expert knowledge, aiming to make the adaptive pilot model follow the dictates of the crossover model. Inspired by this idea, a promising experimentally-validated adaptive human pilot model is recently developed in [6] and [7], by resorting to model reference adaptive control (MRAC) techniques which allows a rigorous stability analysis using the Lyapunov-Krasovskii stability criteria. These studies are conducted assuming the adaptive human pilot is operating on a linear controller-plant combination.…”

A Control Theoretical Adaptive Human Pilot Model: Theory and Experimental Validation

“…Optimal human models are based on the idea that a well trained human operator behaves in an optimal manner [20], [21], [22], [23], [24]. On the other hand, adaptive models, such as the ones proposed in [25], [26] and [27], aim to replicate the adaptation capability of humans in uncertain and dynamics environments. In [25] and [26], adaptation rules are proposed based on expert knowledge.…”

“…The participant data collected through this experimental setup is subjected to visual and statistical analyses to evaluate the accuracy of the proposed model. Initial research results of this study were presented in [27], where the details of the mathematical proof and human experimental validation studies were missing.…”