Linear Time Invariance Analysis of Human for Semi-Autonomous Cooperative and Navigation Control

Abstract

Recently, robot swarm systems have been developed and cooperative control under inter-robot communication based on passivity of human operators has been proposed. These studies assume that a human is a linear time invariant system. However, these studies did not evaluate the linear time invariance of the human. To analyze the linear time invariance of the human, we propose two analysis methods. The first method evaluates the errors of impulse responses by the human. However, this method requires a large amount of data. The second method adopts a coherence function to analyze the linear time invariance with a smaller amount of data. Finally, we perform tests for multiple participants and evaluate the linear time invariance of the participants.