Human Decision-Making Modeling and Cooperative Controller Design for Human–Agent Interaction Systems

In this article, the problem of human intervention and autonomous controller design for human–agent interaction systems is addressed. In particular, a human drift diffusion model is developed for second-order linear multiagent systems subject to unknown external disturbances. The proposed human drift diffusion model can model human decision-making behavior using multiple sources of human decision-making information. Accurate human intervention timing is obtained by setting varying thresholds for different decision-making information. In addition, a fixed-time sliding mode adaptive behavioural controller is developed to execute human decisions in the framework of the null-space based behavioral control method. The controller guarantees that agents can follow human commands given an arbitrary initial task error and can finish tasks in fixed time. A simulation under various scenarios shows that the proposed human drift diffusion model is able to provide appropriate human intervention and the proposed controller can guarantee human command fulfillment within fixed time.