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A Passivity-Based Approach to Human–Swarm Collaboration and Passivity Analysis of Human Operators

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Trends in Control and Decision-Making for Human–Robot Collaboration Systems

Abstract

In this chapter, we present a passivity-based approach to a human–swarm collaboration problem. In the system, the operator is assumed to have a device to command a limited number of accessible robots, and to be in front of a monitor which displays certain information fed back from the robots. The intended control objective is then to render positions/velocities of the group of kinematic robots synchronized to desired references, which a human operator has, under distributed information exchanges among the robots and the operator. To this end, we first design a cooperative controller to be implemented on every robot and point out passivity of the collective robot dynamics. Inspired by this passivity property, we also determine the information visually fed back to the operator. Asymptotic position/velocity synchronization together with input–output stability for time-varying references is then demonstrated by assuming passivity of an appropriately defined human operator decision process. The aforementioned human passivity assumption is also studied through experiments. It is observed that the passivity of the decision process in the position control mode may be violated depending on the network connection and individual characteristics. Hence, a passivation scheme is presented for the operator’s decision process and it is demonstrated for three different interconnection structures and five different trial subjects.

This chapter was developed and enhanced from an earlier paper published as [16] \(\copyright \) 2015 IEEE.

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Author information

Authors and Affiliations

  1. School of Engineering, Tokyo Institute of Technology, Tokyo, Japan

    T. Hatanaka, J. Yamauchi & M. Fujita

  2. Department of Mechanical Engineering, University of Maryland, College Park, MD, USA

    N. Chopra

Authors
  1. T. Hatanaka
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  2. N. Chopra
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  3. J. Yamauchi
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  4. M. Fujita
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Corresponding author

Correspondence to T. Hatanaka .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Clemson University, Clemson, South Carolina, USA

    Yue Wang

  2. School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA

    Fumin Zhang

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Hatanaka, T., Chopra, N., Yamauchi, J., Fujita, M. (2017). A Passivity-Based Approach to Human–Swarm Collaboration and Passivity Analysis of Human Operators. In: Wang, Y., Zhang, F. (eds) Trends in Control and Decision-Making for Human–Robot Collaboration Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-40533-9_14

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  • DOI: https://doi.org/10.1007/978-3-319-40533-9_14

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-40532-2

  • Online ISBN: 978-3-319-40533-9

  • eBook Packages: EngineeringEngineering (R0)

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