Toward Adaptive Cooperation: Model-Based Shared Control Using LQ-Differential Games

Abstract

This paper introduces a novel model-based adaptive shared control to allow for the identification and design challenge for shared-control systems, in which humans and au- tomation share control tasks. The main challenge is the adaptive behavior of the human in such shared control interactions. Consequently, merely identifying human behavior with- out considering automation is insufficient and often leads to inadequate automation design. Therefore, this paper proposes a novel solution involving online identification of the human and the adaptation of shared control using Linear-Quadratic differential games. The effec- tiveness of the proposed online adaptation is analyzed in simulations and compared with a non-adaptive shared control from the state of the art. Finally, the proposed approach is tested through human-in-the-loop experiments, highlighting its suitability for real-time ap- plications.