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

Hiromu Norizuki; Yutaka Uchimura

doi:10.1109/AMC.2019.8371159

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

Hiromu Norizuki, Yutaka Uchimura

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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 language	English
Title of host publication	Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	587-592
Number of pages	6
ISBN (Electronic)	9781538619469
DOIs	https://doi.org/10.1109/AMC.2019.8371159
Publication status	Published - 2018 Jun 1
Event	15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan Duration: 2018 Mar 9 → 2018 Mar 11

Publication series

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

Other

Other	15th IEEE International Workshop on Advanced Motion Control, AMC 2018
Country	Japan
City	Tokyo
Period	18/3/9 → 18/3/11

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

Access to Document

10.1109/AMC.2019.8371159

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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). (Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018). 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 (Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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. 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. (Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018). 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 (Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018).

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