基于被动性理论的多机器人姿态控制框架，保障人机协同稳定
Passivity-based Semi-autonomous Rotational Motion Navigation for Rigid-body Networks: Stability and Human Passivity Analysis
- 通过隐蔽控制保持人机反馈信息不变，人类通过虚拟领航者介入
- 在人类行为为被动系统的假设下，严格证明闭环系统稳定
- 适用于需要高稳定性的人机协作复杂任务场景
本文提出一种新型基于被动性的半自主姿态控制框架，重点关注定义在特殊正交群 $SO(3)$ 上的姿态运动学。尽管人机交互有助于复杂任务的成功执行，但在 $SO(3)$ 流形上保证人机回路系统的稳定性仍是一个未解难题。我们首先设计了一种新控制架构：多机器人系统通过所谓的隐蔽控制，保持反馈给人类操作员的平均信息不变；人类干预通过一个与机器人通过基于被动性的姿态同步律耦合的虚拟领航者进行中介。随后，在假设人类行为为被动系统的基础上，严格证明了所提人机回路系统的闭环稳定性。为支持该分析，进行了仿真研究，以将人类操作员建模为动力系统，并检验所识别模型的被动性特性。
原文摘要 · Abstract (English)
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful execution of complex tasks, ensuring stability of human-in-the-loop systems on the $SO(3)$ manifold remains a largely unsolved challenge. We first propose a new control architecture in which a multi-robot system preserves invariance of the average information fed back to the human operator through so-called stealthy control, and the human intervention is mediated through a virtual leader, which is coupled with the robots via a passivity-based attitude synchronization law. We then rigorously prove closed-loop stability of the proposed human-in-the-loop system under the assumption that the human behaves as a passive system. To support this analysis, simulation studies are conducted to identify the human operator as a dynamical system, and to examine passivity properties of the identified model.
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