Design of Behavior Assistance Control based on Hybrid System Theory

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This research has developed a new framework of the assisting system design based on a hybrid system description of the behavior model. In particular, a piecewise ARX model was used to represent the human behavior. Then, the design problem of the assistance control is formulated as an online optimization problem. By using the developed framework, the decision making mechanism is shared between human and machine. The usefulness is demonstrated by applying driving behavior.