三輪車の動的制御とヒューマンオペレーション

抄録

According to increases of the computer controlled mechanics, native feature of the machine, is locally compensated So that outer loop controller can be easily designed. e.g., exact linearization techniques. When such a control method is implemented and some assumed condition is not likely to be satisfied. the system should automatically recover the normal condition automatically without conflicts of the human operator who does not know the native feature of the system well.
In this paper we investigate a new configuration of master-slave system, namely a heterogeneous constrainted master-slave system which consists of a holonomically constrained master system and a non-holonomically constrained slave system. As a concrete example of the heterogeneous constrained master-slave system. we cousider a three wheel cart as the slave system and an actuated joy-stick as the toaster system. and a coordination of the system and the human operator which keeps an internal state of the input-output linealized slave system bounded is discussed. The coordination is realized as a fictitious force which the human operator can feel through the master system. The effectiveness of the proposed method will be shown by a numerical simulation and an experimental system.