Shared-control for fully actuated linear mechanical systems

This paper presents a shared-control algorithm for fully actuated, linear, mechanical systems. It is assumed that the position of the mechanical system is constrained by a set of linear inequalities. These model convex and with the addition of “logical variables” non-convex feasible sets. The shared-control action is implemented using an hysteresis-based switching strategy. Formal properties of the algorithm are established using a partial Lyapunov analysis. Simulation results on simple case studies illustrate the effectiveness of the proposed algorithm.