Model based predictive control for tele-operational control system with time delay

Koji Kobayshi, Yutaka Uchimura

Research output: Contribution to journalArticle

Abstract

This paper proposes a control method that compensates for a system with time delay by predicting the future states of the plant. The proposed method contains a state predictor that predicts the future values of a system. Furthermore, the proposed method also considers the uncertainty of the model in terms of the 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 the remote plant is explicitly considered and is compensated for by locating a feedback controller in the remote side. This paper described the proposed control method based on model-based predictive control that considers modeling error. The stability of the proposed system is analyzed, and performance of the method is evaluated in comparison with conventional methods using numerical simulation results.

Original languageEnglish
Pages (from-to)323-329
Number of pages7
JournalIEEJ Transactions on Industry Applications
Volume138
Issue number4
DOIs
Publication statusPublished - 2018 Jan 1

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Keywords

  • Model-based predictive control
  • Network based control
  • Tele-operation system
  • Time delayed system

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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