Abstract
After some training, human operators can control manually very unstable objects when some proper informations are given. But they can hardly explain how they do it, because they operate intuitively and not logically. In this paper, we study the human behavior during the control of a double inverted pendulum and identify their control rules experimentally. The motion of a double inverted pendulum is simulated by a micro-computer and some of the state variables are indicated on CRT which are observed by a subject and controlled with key. In order to find which informations are used during the operation by a subject, his visual points are examined by an eye-camera. As the result, we see that there are three phases of operation, that is the decrease of initial deviation, the prevention of over-shoot, the keeping of stability. Next the motion of pendulum is analyzed qualitatively in each phase so as to identify the control rules of human operator. By this analysis, we see that the intuitive manipulation of human operator is quite reasonable from the physical viewpoint, and represent it by some linguistic rules. From these results, we suggest a hierarchical structure of fuzzy rules as a model of human operator which is verified through the experiments of fuzzy control. It is concluded that this fuzzy controller acts as a skilled operator but its performance is much superior to human.
