Adaptive Control of Telerobotic Systems Worn by Humans
NAVAL UNDERSEA WARFARE CENTER DIV NEWPORT RI
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A distinguishing feature of man is his ability to invent mechanical devices augment his physical capabilities. Traditionally, these machines have been master-slave devices with man controlling the activities of the machine. Recent work has been done to develop a control architecture for the coupled man- machine systems however, these systems rely on a complete and detailed description of the device and its operating environment. The necessity of an environmental model places limitations on the machines ability to perform different tasks. This report discusses how environmental dependence can be overcome through the use of a parameter estimator, which operates on data contained in the system. This report first verifies the performance of the control architecture. A linear estimation technique is then used to allow the system to adapt to an unknown time-invariant environment. Also discussed is how the results of the adaptations can be extended to the problem of an unknown time-varying environment. Telerobotic systems, Adaptive control, Combat control systems.
- Computer Hardware
- Human Factors Engineering and Man Machine Systems