Parameter Design of Switched Assist Controller for Man-Machine Cooperative System with Human Behavior Model Based on Hybrid System

摘要

Recently, the demand for man-machine cooperative systems has been growing in many industrial fields, particularly in cell production and in flexible manufacturing systems. In the design of man-machine cooperative systems, the characteristics of human behavior must be considered. This paper presents a new design strategy for a switched assist controller for a man-machine cooperative positioning task that takes into consideration a human behavior model based on a continuous/discrete hybrid dynamical system. First, the human behavior model is identified as a piecewise ARX model using k-means clustering and a support vector machine. Second, the switched assist system is designed as a switched impedance controller based on the identified hybrid human behavior model with optimization. The optimization was solved by performing a forward calculation of the closed loop response of the human behavior model and controller with a criterion reflecting the task time and the force effort. The results show that one can find the optimal parameters for a switched impedance controller.