Date of Award
Summer 2010
Document Type
Thesis - Open Access
Degree Name
Master of Science in Engineering Physics
Department
Physical Sciences
Committee Chair
Dr. Sergey V. Drakunov
Committee Member
Dr. Mahmut Reyhanoglu
Committee Member
Dr. John Hughes
Abstract
The development of models for a human-in-the-loop with hardware is an area of ongoing research. The ability to simulate a human-in-the-loop with hardware provides a platform for better understanding the dynamics of human and machine cognition. A human-in-the-loop model provides information that can be used to design more efficient human interfaces and smarter autonomous assistant controllers. This can make a complex task such as flying an aircraft safer and more accessible. This thesis explores different possibilities for human operator models to be modeled in the loop with a vehicle. A human is modeled as a linear state feedback controller in the loop with the task of controlling a simple solid ball. The human arm is modeled controlling a joystick as the human is considered to control the ball with a joystick. Nonlinear sliding mode observers are developed to estimate the gains of a feedback control law and nonlinear sliding mode observers are developed to estimate the torques on the shoulder, elbow, and joystick joints. The nonlinear observers are simulated on a human-in-the-loop system to show the accuracy of the observers.
Scholarly Commons Citation
McKinley, Samuel Kitchen, "Nonlinear Observers for Human-in-the-loop Control Systems" (2010). Master's Theses - Daytona Beach. 97.
https://commons.erau.edu/db-theses/97
