Passivity Analysis of Human as a Controller
نویسنده
چکیده
Human controllers as pilots or drivers can be described by linear time invariant systems cascaded with time delay. Inspired by this, we ‘generalize’ the definition of passivity index to irrational transfer functions and use the passivity index to examine passivity of some existing human models. The results show that the human model is non-passive due to the time delay which represents inherent human limitations. We then propose a passification scheme when a human operator is in the loop. By this scheme, the closed-loop system with human in the loop as a controller can have desired positive passivity indices to address the control tasks of interest.
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