Assessing information availability for user-interfaces of shared control systems under reference tracking

We consider three classes of shared control under reference tracking, in which the user provides a reference input, and the automation determines the appropriate low-level control (with possible modifications to the user´s reference input). We pose the question of information availability of the user-interface, that is, of whether the user-interface provides adequate information about the underlying system (as well as the automation´s actions) for the user to be able to a) reconstruct, and b) predict, those states of the system that are relevant for the user to be able to complete a desired task. We consider the user to be a special type of observer, constrained by human factors guidelines for user-centered design, and extend techniques in unknown-input observability to assess a given user-interface under a specific shared control paradigm.