TELEOPERATOR CONTROL MODELS: EFFECTS OF TIME DELAY AND IMPERFECT SYSTEM KNOWLEDGE

Authors
  1. Van De Vegte, J.M.E.
  2. Milgram, P.
  3. Kwong, R.H.
Corporate Authors
Defence and Civil Inst of Environmental Medicine, Downsview ONT (CAN);Toronto Univ, Toronto ONT (CAN) Dept of Industrial Engineering;Toronto Univ, Toronto ONT (CAN) Dept of Electrical Engineering
Abstract
The mathematical modelling of manually-controlled teleoperator systems is considered. Using the well-known optimal control model (OCM), it is possible to model an experienced human operator as an optimal controller executing continuous control in an environment in which the system is subject to random external disturbances. The basic OCM theory is extended in the work, however, to allow the human operator to have an imperfect internal model of the system being controlled, and the effects of discrepancies between the system and human models are investigated. A mechanism for closed-form modeling of performance for systems equipped with predictor displays is also added to the original theory. To validate the model, model predictions are compared to the results of experiments with a simulated tetherless submersible. The experimental results show that the modified optimal control model (MOCM) holds promise as a tool for the design and analysis of teleoperated control systems.
Report Number
DCIEM-90-P-18 — Research Report (Final); Reprint
Date of publication
01 Jan 1989
Number of Pages
16
Reprinted from
IEEE Transactions on Systems, Man, and Cybernetics, vol 20, no 6, 1990, p 1258-1272
DSTKIM No
91-01638
CANDIS No
68842
Format(s):
Hardcopy;Originator's fiche received by DSIS

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