Identifying Human Preview Control Behavior Using Subsystem Identification
Pieter Bas J.C. Bentinck (Student TU Delft)
Daan M. Pool (TU Delft - Control & Simulation)
Kasper Van Der El (TU Delft - Control & Simulation)
Jesse B. Hoagg (University of Kentucky)
M Mulder (TU Delft - Control & Simulation)
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Abstract
Better understanding of manual control requires more research on human anticipatory feedforward behaviour. Recent advances include a human control model for preview tracking, and a subsystem identification (SSID) technique that uses a candidate pool approach to identify the human feedforward and feedback responses. This paper discusses the performance of the SSID method when estimating the preview control model parameters. Through simulations of a preview task with two controlled element dynamics, the SSID performance with different remnant noise levels and candidate pool densities is quantified. We demonstrate its successful application to the preview model and show that its performance deteriorates for higher noise levels. While the feedforward parameters are estimated accurately, the high-frequency compensatory feedback dynamics cannot be reliably determined. Future work focuses on alternative formulations for using SSID to estimate preview model parameters. Since in manual control the closed-loop magnitude decreases at higher frequencies, effects of manipulating the weightings of the closed-loop fitting cost values at these frequencies must be further analyzed.
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