Manual control of a nonholonomic system by multiple predictor-controller pair architecture

Humans can often conduct both linear and nonlinear control tasks after a sufficient number of trials, even if they initially do not have sufficient knowledge about the system´s dynamics and the way to control it. Theoretically, it is well known that some nonlinear systems cannot be stabilized asymptotically by any linear controllers. However, there is a possibility that human may use a linear control scheme for nonlinear control tasks. The hypothesis proposed in this paper is that humans switch the linear controllers with a virtual constraint. Each controller is responsible for a small region where the linear approximation can work well for nonlinear tasks. It is suggested that the proposed virtual constraint can play an important role to overcome a limitation of the linear controllers.