Design of model predictive control considering time delay in remote excavation work

Hiromu Norizuki, Yutaka Uchimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the teleoperation system with communication delay, the state of the remote robot arrives at the operator's side with time lag. Therefore, even though the remote robot has already been in contact with a obstacle, the operator may misunderstand that it is not in contact and may make further move. As a result, excessive force is applied to the obstacle and the remote robot may cause destruction and malfunction. In this paper, a teleoperation system using model predictive control is proposed to prevent destruction and failure due to time delay. The proposed method is evaluated by numerical simulations and experiments.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages587-592
Number of pages6
ISBN (Electronic)9781538619469
DOIs
Publication statusPublished - 2018 Jun 1
Event15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan
Duration: 2018 Mar 92018 Mar 11

Other

Other15th IEEE International Workshop on Advanced Motion Control, AMC 2018
CountryJapan
CityTokyo
Period18/3/918/3/11

Fingerprint

Model predictive control
Excavation
Time delay
Robots
Remote control
Communication
Computer simulation
Experiments

Keywords

  • Model Predictive Control
  • Network based control
  • Teleoperation system
  • Time delay

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Mechanical Engineering
  • Control and Optimization

Cite this

Norizuki, H., & Uchimura, Y. (2018). Design of model predictive control considering time delay in remote excavation work. In Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018 (pp. 587-592). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2019.8371159

Design of model predictive control considering time delay in remote excavation work. / Norizuki, Hiromu; Uchimura, Yutaka.

Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 587-592.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Norizuki, H & Uchimura, Y 2018, Design of model predictive control considering time delay in remote excavation work. in Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., pp. 587-592, 15th IEEE International Workshop on Advanced Motion Control, AMC 2018, Tokyo, Japan, 18/3/9. https://doi.org/10.1109/AMC.2019.8371159
Norizuki H, Uchimura Y. Design of model predictive control considering time delay in remote excavation work. In Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 587-592 https://doi.org/10.1109/AMC.2019.8371159
Norizuki, Hiromu ; Uchimura, Yutaka. / Design of model predictive control considering time delay in remote excavation work. Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 587-592
@inproceedings{70fa2775d7594405b317fd5baffd4075,
title = "Design of model predictive control considering time delay in remote excavation work",
abstract = "In the teleoperation system with communication delay, the state of the remote robot arrives at the operator's side with time lag. Therefore, even though the remote robot has already been in contact with a obstacle, the operator may misunderstand that it is not in contact and may make further move. As a result, excessive force is applied to the obstacle and the remote robot may cause destruction and malfunction. In this paper, a teleoperation system using model predictive control is proposed to prevent destruction and failure due to time delay. The proposed method is evaluated by numerical simulations and experiments.",
keywords = "Model Predictive Control, Network based control, Teleoperation system, Time delay",
author = "Hiromu Norizuki and Yutaka Uchimura",
year = "2018",
month = "6",
day = "1",
doi = "10.1109/AMC.2019.8371159",
language = "English",
pages = "587--592",
booktitle = "Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Design of model predictive control considering time delay in remote excavation work

AU - Norizuki, Hiromu

AU - Uchimura, Yutaka

PY - 2018/6/1

Y1 - 2018/6/1

N2 - In the teleoperation system with communication delay, the state of the remote robot arrives at the operator's side with time lag. Therefore, even though the remote robot has already been in contact with a obstacle, the operator may misunderstand that it is not in contact and may make further move. As a result, excessive force is applied to the obstacle and the remote robot may cause destruction and malfunction. In this paper, a teleoperation system using model predictive control is proposed to prevent destruction and failure due to time delay. The proposed method is evaluated by numerical simulations and experiments.

AB - In the teleoperation system with communication delay, the state of the remote robot arrives at the operator's side with time lag. Therefore, even though the remote robot has already been in contact with a obstacle, the operator may misunderstand that it is not in contact and may make further move. As a result, excessive force is applied to the obstacle and the remote robot may cause destruction and malfunction. In this paper, a teleoperation system using model predictive control is proposed to prevent destruction and failure due to time delay. The proposed method is evaluated by numerical simulations and experiments.

KW - Model Predictive Control

KW - Network based control

KW - Teleoperation system

KW - Time delay

UR - http://www.scopus.com/inward/record.url?scp=85048740712&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85048740712&partnerID=8YFLogxK

U2 - 10.1109/AMC.2019.8371159

DO - 10.1109/AMC.2019.8371159

M3 - Conference contribution

SP - 587

EP - 592

BT - Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

ER -