Modulation of Control Authority in Adaptive HapticShared Control Paradigms
Vahid Izadi, Amir H. Ghasemi

TL;DR
This paper introduces an adaptive haptic shared control framework with a novel self-regulating impedance controller, enabling smooth control authority modulation between human and automation in steering tasks, demonstrated via simulation studies.
Contribution
It proposes a new impedance control method and an optimal modulation policy using nonlinear model predictive control for adaptive shared steering control.
Findings
Effective control authority modulation demonstrated in simulations
Improved cooperation between human and automation in obstacle avoidance
Flexible control transfer modes for different interaction scenarios
Abstract
This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only capable of making decisions but also monitoring the human's behavior and adjusting its behavior accordingly. To enable the automation system to smoothly exchange the control authority with the human partner, this paper introduces a novel self-regulating impedance controller for the automation system. To determine an optimal modulation policy, a cost function is defined. The terms of the cost function are assigned to minimize the performance error and reduce the disagreement between the human and automation system. To solve the optimal control problem, we employed a nonlinear model predictive approach and used the continuation generalized minimum…
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
