The Roles of Feedback and Feedforward as Humans Learn to Control Unknown Dynamic Systems
The Roles of Feedback and Feedforward as Humans Learn to Control Unknown Dynamic Systems
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DOI：
10.1109/tcyb.2016.2646483
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发表时间：
2018-02
影响因子：
11.8
通讯作者：
Xingye Zhang;Shaoqian Wang;Jesse B. Hoagg;T. Seigler
中科院分区：
文献类型：
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作者：
Xingye Zhang;Shaoqian Wang;Jesse B. Hoagg;T. Seigler
我们展示了一项实验的结果，在该实验中，人类受试者在两周内与未知的动态系统交互 40 次。在每次交互期间，受试者被要求执行命令跟随（即追踪跟踪）任务。从第一次试验到最后一次试验，每个受试者在该任务上的表现都有所提高。对于每次试验，我们使用子系统识别来估计每个受试者的前馈（或预期）控制、反馈（或反应）控制和反馈时间延迟。在 40 次试验中，所识别的反馈控制器的大小和所识别的反馈时间延迟没有显着变化。相反，所识别的前馈控制器确实发生了显着变化。通过最后一次试验，平均识别的前馈控制器近似于动态系统的逆。这一观察结果证明，人类学习的一个基本组成部分是更新预期控制，直到它模拟逆动态。
We present results from an experiment in which human subjects interact with an unknown dynamic system 40 times during a two-week period. During each interaction, subjects are asked to perform a command-following (i.e., pursuit tracking) task. Each subject’s performance at that task improves from the first trial to the last trial. For each trial, we use subsystem identification to estimate each subject’s feedforward (or anticipatory) control, feedback (or reactive) control, and feedback time delay. Over the 40 trials, the magnitudes of the identified feedback controllers and the identified feedback time delays do not change significantly. In contrast, the identified feedforward controllers do change significantly. By the last trial, the average identified feedforward controller approximates the inverse of the dynamic system. This observation provides evidence that a fundamental component of human learning is updating the anticipatory control until it models the inverse dynamics.