Necessary and sufficient conditions for the design of cooperative shared control

In a shared control system humans and machines cooperatively interact. From the control theoretic point of view this can be seen as a system which is controlled by several controllers that are either formed by a human or by a machine. Since all controllers influence the system they affect each other. However, the human parts are given and cannot be changed. Therefore, the question is how to design the non-human controller systematically stable and without experiments. In this paper a design concept for these controllers is proposed which is based on game theoretic modeling. We show that adding a controller to the overall system has to lead to a Nash equilibrium. We further show that remaining degrees of freedom may then be used to optimize the designed controller with respect to a certain global objective function that specifies the demands of the system designers. Based on this idea necessary and sufficient conditions for cooperative shared design are stated. Practical approaches to solve the design problem are presented for real world problems. An example shows the applicability of the concept.

[1]  Y. Ho,et al.  Nonzero-sum differential games , 1969 .

[2]  Mark Mulder,et al.  Neuromuscular Analysis as a Guideline in designing Shared Control , 2010 .

[3]  Stephen J. Wright,et al.  Numerical Optimization (Springer Series in Operations Research and Financial Engineering) , 2000 .

[4]  Saied Taheri,et al.  Optimal vehicle stability control design based on preview game theory concept , 2011, Proceedings of the 2011 American Control Conference.

[5]  Jean-Michel Hoc,et al.  Towards a cognitive approach to human-machine cooperation in dynamic situations , 2001, Int. J. Hum. Comput. Stud..

[6]  D. L. LUKJZS.  A Global Theory for Linear-Quadratic Differential Games * , 2003 .

[7]  Mark Mulder,et al.  Sharing Control With Haptics , 2012, Hum. Factors.

[8]  Mark S. Young,et al.  Cooperation between drivers and automation: implications for safety , 2009 .

[9]  René van Paassen,et al.  The importance of including knowledge of neuromuscular behaviour in haptic shared control , 2012, 2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[10]  Matteo Corno,et al.  Shared control for road departure prevention , 2011, 2011 IEEE International Conference on Systems, Man, and Cybernetics.

[11]  Sören Hohmann,et al.  Steering driver assistance system: A systematic cooperative shared control design approach , 2014, 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[12]  Jean-Paul Laumond,et al.  From human to humanoid locomotion—an inverse optimal control approach , 2010, Auton. Robots.

[13]  Mark S. Young,et al.  Driving automation: Learning from aviation about design philosophies , 2007 .

[14]  Hermann Winner,et al.  Development of a cooperative system behavior for a highly automated vehicle guidance concept based on the Conduct-by-Wire principle , 2011, 2011 IEEE Intelligent Vehicles Symposium (IV).

[15]  Renwick E. Curry,et al.  Flight-deck automation: promises and problems , 1980 .

[16]  Anil V. Rao,et al.  ( Preprint ) AAS 09-334 A SURVEY OF NUMERICAL METHODS FOR OPTIMAL CONTROL , 2009 .

[17]  Daniel A. Braun,et al.  Nash Equilibria in Multi-Agent Motor Interactions , 2009, PLoS Comput. Biol..

[18]  Sören Hohmann,et al.  Experimental Validation of a Driver Steering Model Based on Switching of Driver Specific Primitives , 2013, 2013 IEEE International Conference on Systems, Man, and Cybernetics.

[19]  Frank Flemisch,et al.  Cooperative Control and Active Interfaces for Vehicle Assitsance and Automation , 2008 .

[20]  Lisanne Bainbridge,et al.  Ironies of automation , 1982, Autom..

[21]  David J. Cole,et al.  Linear quadratic game and non-cooperative predictive methods for potential application to modelling driver–AFS interactive steering control , 2013 .