The human controller (HC) in manual control of a dynamical system often follows a visible and predictable reference path (target). The HC can adopt a control strategy combining closed-loop feedback and an open-loop feedforward response. The effects of the target signal waveform shape and the system dynamics on the human feedforward dynamics are still largely unknown, even for common, stable, vehicle-like dynamics. This paper studies the feedforward dynamics through computer model simulations and compares these to system identification results from human-in-the-loop experimental data. Two target waveform shapes are considered, constant velocity ramp segments and constant acceleration parabola segments. Furthermore, three representative vehicle-like system dynamics are considered: 1) a single integrator (SI); 2) a second-order system; and 3) a double integrator. The analyses show that the HC utilizes a combined feedforward/feedback control strategy for all dynamics with the parabola target, and for the SI and second-order system with the ramp target. The feedforward model parameters are, however, very different between the two target waveform shapes, illustrating the adaptability of the HC to task variables. Moreover, strong evidence of anticipatory control behavior in the HC is found for the parabola target signal. The HC anticipates the future course of the parabola target signal given extensive practice, reflected by negative feedforward time delay estimates.

中文翻译：

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目标信号形状和系统动力学对手动控制中前馈的影响

手动控制动力系统的人机控制器（HC）通常遵循可见且可预测的参考路径（目标）。HC可以采用结合了闭环反馈和开环前馈响应的控制策略。目标信号波形形状和系统动力学对人体前馈动力学的影响仍然未知，即使对于常见的，稳定的，类似车辆的动力学也是如此。本文通过计算机模型仿真研究前馈动力学，并将其与人在环实验数据中的系统识别结果进行比较。考虑了两个目标波形形状，即恒定速度斜坡段和恒定加速度抛物线段。此外，还考虑了三种具有代表性的类似车辆的系统动力学：1）单个积分器（SI）；2）二阶系统；3）双积分器。分析表明，对于具有抛物线目标的所有动态，以及具有斜坡目标的SI和二阶系统，HC都采用了组合的前馈/反馈控制策略。但是，前馈模型参数在两个目标波形之间有很大的不同，说明了HC对任务变量的适应性。此外，对于抛物线目标信号，发现了在HC中预期控制行为的有力证据。HC会在广泛实践的情况下预测抛物线目标信号的未来走向，这将由负前馈时间延迟估计值反映出来。但是，前馈模型参数在两个目标波形之间有很大的不同，说明了HC对任务变量的适应性。此外，对于抛物线目标信号，发现了在HC中预期控制行为的有力证据。HC会在广泛实践的情况下预测抛物线目标信号的未来走向，这将由负前馈时间延迟估计值反映出来。但是，前馈模型参数在两个目标波形之间有很大的不同，说明了HC对任务变量的适应性。此外，对于抛物线目标信号，发现了在HC中预期控制行为的有力证据。在广泛的实践中，HC会预测抛物线目标信号的未来走向，这将由负前馈时间延迟估计值反映出来。