Passivity-based Semi-autonomous Rotational Motion Navigation for Rigid-body Networks: Stability and Human Passivity Analysis

Abstract

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.