Extended Cooperative Control Synthesis

This paper reports on research for extending the Cooperative Control Synthesis methodology to include a more accurate modeling of the pilot's controller dynamics. Cooperative Control Synthesis (CCS) is a methodology that addresses the problem of how to design control laws for piloted, high-order, multivariate systems and/or nonconventional dynamic con gurations in the absence of ying qualities speci cations. This is accomplished by emphasizing the parallel structure inherent in any pilot-controlled, augmented vehicle. The original CCS methodology is extended to include the modi ed optimal control model (MOCM), which is based upon the optimal control model of the human operator developed by Kleinman, Baron, and Levison in 1970. This model provides a modeling of the pilot's compensation dynamics that is more accurate than the simpli ed pilot dynamic representation currently in the CCS methodology. Inclusion of the MOCM into the CCS also enables the modeling of pilot-observation perception thresholds and pilot-observation attention allocation effects. This Extended Cooperative Control Synthesis (ECCS) allows for the direct calculation of pilot and system openand closed-loop transfer functions in pole/zero form and is readily implemented in current software capable of analysis and design for dynamic systems. Example results based upon synthesizing an augmentation control law for an acceleration command system in a compensatory tracking task using the ECCS are compared with a similar synthesis performed by using the original CCS methodology. The ECCS is shown to provide augmentation control laws that yield more favorable, predicted closedloop ying qualities and tracking performance than those synthesized using the original CCS methodology. Introduction Increasing aircraft agility, maneuvering at high angles of attack, and exploring radical ight vehicle geometries to obtain low observability are areas of current research that show promise of greatly increasing aircraft mission performance. To fully exploit these and other possible new capabilities, future aircraft may require high-order, multivariate ight control systems or demand designs dealing with nonconventional ight dynamics. Although design guidance is available in the form of ying qualities speci cations for aircraft exhibiting conventional dynamics, very little design guidance is available to the ight control designer for synthesizing control laws to achieve both good piloted performance and good ying qualities for high-order and/or nonconventional con gurations. In 1979, Schmidt proposed a synthesis methodology that addresses the problem of how to design control laws for piloted, high-order, multivariate and/or nonconventional dynamics congurations in the absence of ying qualities speci cations. This methodology, referred to as \Cooperative Control Synthesis (CCS)," emphasizes the parallel structure inherent in any pilotcontrolled augmented vehicle. (See g. 1.) The CCS methodology is applicable to high-order systems and leads to control laws for good piloted performance and subjective evaluation. In this method, optimal control theory is utilized for both the control law synthesis and a simpli ed modeling of the pilot's compensation dynamics. By including this simpli ed model, the CCS methodology explicitly includes design objectives based upon pilot acceptability. The original CCS methodology was extended by Innocenti and Schmidt (1984) to include state estimation in