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.
| Comments: | This work is to be submitted to the 6th Workshop on Cyber-Physical Human Systems (CPHS2026) for possible publication |
| Subjects: | Systems and Control (eess.SY); Robotics (cs.RO) |
| Cite as: | arXiv:2605.24731 [eess.SY] |
| (or arXiv:2605.24731v1 [eess.SY] for this version) | |
| https://doi.org/10.48550/arXiv.2605.24731 arXiv-issued DOI via DataCite (pending registration) |
From: Reiji Terunuma [view email]
[v1]
Sat, 23 May 2026 20:49:32 UTC (1,080 KB)
此内容由惯性聚合(RSS阅读器)自动聚合整理，仅供阅读参考。 原文来自 — 版权归原作者所有。