Human-Machine Cooperative Control for Semi-Autonomous Vehicles: Robustness and Optimality

This study analyzes the role of human factors in semi-automomous vehicles. A novel human-machine system framework is proposed. In the human-machine systems, the human is in charge of decision-making, problem-solving and creativity, while the machine is responsible of strength, precision, computation and speed. Since the human behavior is inherently fuzzy, fuzzy set theory is legitimately employed to evaluate human influence. Further, a constraint-following control (CFC) method is proposed. The proposed control ensures the semi-autonomous vehicles global uniform boundedness (GUB) and global uniform ultimate boundedness (GUUB). Afterwards, the driver behavior is optimized to obtain better control effect. Two key performances are attained: robustness and optimality. Finally, the proposed control approach is validated through a simple example, showcasing its effectiveness.