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Modeling of Human-Centered Cooperative Control by Means of Tracking in Discrete Time Linear Quadratic Differential Games [n press]

Lemmer, Markus; Köpf, Florian; Schwab, Stefan; Flad, Michael; Hohmann, Sören

Abstract (englisch):
In Shared Control, humans interact with robots and
machines to achieve tasks in a cooperative scenario. Different
preferences of human and machine on how to achieve the task
can be modeled by means of differential games. A relevant task in
various situations, e.g. cooperative lifting of weights, is to follow
a trajectory of states, which can be formalized as a cooperative
tracking problem. In this paper, we present a discrete-time
linear-quadratic tracking game to model the interaction of two
controllers in trajectory tracking. In a second step, we discuss the
existence and analyze the resulting control law. In addition, we
propose a simplified suboptimal cooperative tracking controller
that allows easier implementation. Finally, simulation results are
given for both proposed methods.


Zugehörige Institution(en) am KIT Forschungszentrum Informatik, Karlsruhe (FZI)
Institut für Regelungs- und Steuerungssysteme (IRS)
Publikationstyp Proceedingsbeitrag
Jahr 2018
Sprache Englisch
Identifikator KITopen ID: 1000086018
Erschienen in IEEE International Conference on Artificial Intelligence and Knowledge Engineering (AIKE), Laguna Hills, California, USA, September 26-28, 2018
Verlag IEEE, Piscataway (NJ)
Schlagworte Shared Control, Linear Quadratic Tracking, Nash Solution, Game Theory
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