TY - GEN
T1 - Model based predictive control for a system with long time delay
AU - Kobayashi, Koji
AU - Uchimura, Yutaka
PY - 2018/6/1
Y1 - 2018/6/1
N2 - This paper proposes a control method that compensates the time delay in a system by predicting the future states of a plant. The proposed method contains a state predictor that predicts the future values of a system. Furthermore, the proposed method considers the uncertainty in a model in terms of modeling error, which might cause the predicted value to degrade the performance of the system or even destabilize it in the worst case. The disturbance in a remote plant is explicitly considered and is compensated by placing a feedback controller on the remote side. This paper describes the proposed control method based on model-based predictive control that considers modeling error. Furthermore, this paper describes a method of designing a feedback controller based on the H∞ norm. The stability of the proposed system is analyzed, and the performance of the method is evaluated and compared with a conventional methods using numerical simulation results.
AB - This paper proposes a control method that compensates the time delay in a system by predicting the future states of a plant. The proposed method contains a state predictor that predicts the future values of a system. Furthermore, the proposed method considers the uncertainty in a model in terms of modeling error, which might cause the predicted value to degrade the performance of the system or even destabilize it in the worst case. The disturbance in a remote plant is explicitly considered and is compensated by placing a feedback controller on the remote side. This paper describes the proposed control method based on model-based predictive control that considers modeling error. Furthermore, this paper describes a method of designing a feedback controller based on the H∞ norm. The stability of the proposed system is analyzed, and the performance of the method is evaluated and compared with a conventional methods using numerical simulation results.
KW - Model-based predictive control
KW - Networked-based control
KW - Tele-operation system
KW - Time delay system
UR - http://www.scopus.com/inward/record.url?scp=85048805481&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85048805481&partnerID=8YFLogxK
U2 - 10.1109/AMC.2019.8371158
DO - 10.1109/AMC.2019.8371158
M3 - Conference contribution
AN - SCOPUS:85048805481
T3 - Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
SP - 581
EP - 586
BT - Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Workshop on Advanced Motion Control, AMC 2018
Y2 - 9 March 2018 through 11 March 2018
ER -