Using manual tracking performance to tune a specified-negative-amplitude input shaper

This paper proposes a method for optimizing a control system that includes a human in the loop. The method uses human-operator testing to measure the system's performance for a given value of a control parameter. Root-mean-squared (RMS) tracking error is used to quantify performance. The optimu...

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Bibliographic Details
Published in2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC) pp. 1503 - 1508
Main Authors Potter, J. J., Singhose, W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2012
Subjects
Command Shaping
Cranes
Human in the Loop
Humans
Input Shaping
Man machine systems
Manual Control
Manuals
Optimization
Payloads
Target tracking
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Summary:This paper proposes a method for optimizing a control system that includes a human in the loop. The method uses human-operator testing to measure the system's performance for a given value of a control parameter. Root-mean-squared (RMS) tracking error is used to quantify performance. The optimum control parameter value is found using a one-dimensional search algorithm. As an example application, the golden-section search method is used to find the optimal form of a specified-negative-amplitude (SNA) input shaper. Results from an operator experiment show that the method was able to identify an optimal range of parameter values using a relatively small number of iterations.
ISBN:9781467317139
1467317136
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2012.6377948