Method for solving nonlinear control problems using humans' abilities in manual control

人类可以在没有关于被控对象的足够信息的情况下执行各种复杂的控制任务。为了将人类的这种能力应用到更广泛的非线性控制问题中，我们提出了一种通过人工控制获得最佳控制性能的方法，并针对实际的非线性控制任务进行了实验。然后，我们从多个角度考察了它的有效性。本研究的主要研究结果如下：1.通过改变显示方式、输入输出增益或时间尺度等条件，考察了良好任务的参数范围及其相关关系。人们已经证实，人的能力在一定的参数范围内是有效的。在任务结束后，将非线性目标函数的得分显示给操作员，操作员可以执行几乎最优的控制。这是一个重要的结果，即使对于非线性准则，人类也可以修改自己的控制性能。在电动铲运机的挖掘控制和双连杆机械臂的位置控制中，我们证实了操作者可以根据目标函数产生各种控制模式，从而产生良好的任务。这些无法通过分析获得的控制性能，是通过人类的能力实现的。

Human beings can perform various complicated control tasks without enough information about controlled objects. In order to apply such humans' abilities to wide class of nonlinear control problems, we propose a method for obtaining best control performance with manual control for the experiment corresponding to the real nonlinear control task. Then we investigate its effectiveness from various viewpoints. The main results of this research are summarized as follows :1. By changing the conditions such as a display style, an input-output gain or a time scale, the ranges of the parameters for good tasks and their correlations were examined. It was confirmed that the human's ability works effectively for a certain set of parameters.2. Displaying the score of the nonlinear object function to the operator after task, the operator could get to perform almost optimal control. It is an important result that the human beings can modify their control performance even for nonlinear criteria.3. In the digging control of a power shovel and the position control of a two-link arm, we confirmed that the operator could generate various control patterns which lead to good tasks depending on the object functions. These control performance, which cannot be obtained analytically, were achieved by humans' abilities.