Limited Information Shared Control: A Potential Game Approach
Abstract
This paper presents a systematic method for the design of a limited information shared control (LISC). LISC is used in applications where not all system states or reference trajectories are measurable by the automation. Typical examples are partially human-controlled systems, in which some subsystems are fully controlled by automation while others are controlled by a human. The proposed systematic design method uses a novel class of games to model human-machine interaction: the near potential differential games (NPDG). We provide a necessary and sufficient condition for the existence of an NPDG and derive an algorithm for finding a NPDG that completely describes a given differential game. The proposed design method is applied to the control of a large vehicle-manipulator system, in which the manipulator is controlled by a human operator and the vehicle is fully automated. The suitability of the NPDG to model differential games is verified in simulations, leading to a faster and more accurate controller design compared to manual tuning. Furthermore, the overall design process is validated in a study with sixteen test subjects, indicating the applicability of the proposed concept in real applications.
Cite
@article{arxiv.2201.06651,
title = {Limited Information Shared Control: A Potential Game Approach},
author = {Balint Varga and Jairo Inga and Soeren Hohmann},
journal= {arXiv preprint arXiv:2201.06651},
year = {2024}
}
Comments
This work has been submitted to the IEEE for possible publication