Control-on-request: Short-burst assistive control for long time horizon improvement

Alex Ansari, Todd Murphey

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

8 Scopus citations

Abstract

This paper introduces a new control-on-request (COR) method that improves the capability of existing shared control interfaces. These COR enhanced interfaces allow users to request on-demand bursts of assistive computer control authority when manual / shared control tasks become too challenging. To enable the approach, we take advantage of the short duration of the desired control responses to derive an algebraic solution for the optimal switching control for differentiable nonlinear systems. These solutions minimize control authority while generating immediate and optimal degrees of improvement in system trajectories. The technique avoids the iterative constrained optimization required to derive traditional finite horizon optimal switching control solutions for nonlinear system and allows optimal control responses on time-frames otherwise infeasible. An interactive example illustrates how users can use COR interfaces to request real-time bursts of control assistance to help stabilize an unstable system.

Original languageEnglish (US)
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1173-1180
Number of pages8
ISBN (Electronic)9781479986842
DOIs
StatePublished - Jul 28 2015
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Publication series

NameProceedings of the American Control Conference
Volume2015-July
ISSN (Print)0743-1619

Other

Other2015 American Control Conference, ACC 2015
CountryUnited States
CityChicago
Period7/1/157/3/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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