Passive switched system analysis of semi-autonomous systems

Abstract

While autonomous capabilities have proliferated across a wide range of commercial and domestic applications, some tasks require intermittent aid from a human operator. Guaranteeing the safety of these intermittently-teleoperated systems requires stability guarantees that hold in the presence of switching. In this paper, we consider the problem of controlling a robotic vehicle using both a human controller and an autonomous controller. The strategy is to allow the human operator to switch between manual control and autonomous control as needed. The feedback loop is analyzed and shown to be stable using a notion of passivity from nonlinear system analysis. Finally, an example is provided to demonstrate the approach.