Self-Paced Preview Tracking Behaviors in Manual Control Systems

Abstract

This paper discusses the tracking behaviors of the human operator in self-paced preview control systems, in which the operator sees a limited length of his course ahead and modulates continuously the driving velocity according to the variation in the course given as an input function. The following preview control model is proposed: i) The preview input function in space Y_d(X) is transformed into a function in time Y_d(τ) by utilizing the instantaneous velocity. ii) Next, the present desired input Y_d(t) and desired velocity V_d(t) are defined in terms of two kinds of convolution integrals which operate on the future input Y_d(τ). iii) Y_d(t) and V_d(t) are independently followed by ordinary servomechanisms.
The preview control model is simulated and the time scores are compared with response of the human operator.