Model Predictive Control with Variable Prediction Horizon for a System including Time-varying Delay

Hiroki Arai, Yutaka Uchimura

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

Abstract

This paper proposes a model-predictive control (MPC) based method to compensate systems with time-varying delay. The proposed method uses a prediction model to estimate the future state of a controlled object. In case the system includes time-varying delay, the model based predictor on the local side is compelled to assume maximum delay for sending packets. However most of the packets will arrive within the maximum delay. In this paper, we propose to utilize the early-arriving packets to generate a reference trajectory for model predictive control on the remote side. The proposal of this paper is a method to deal with varying horizon for model predictive control. The performance of the proposal was evaluated by comparing the proposed method with a conventional method by conducting numerical simulations and experiments with a human operator.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages3281-3286
Number of pages6
ISBN (Electronic)9781728148786
DOIs
Publication statusPublished - 2019 Oct
Event45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
Duration: 2019 Oct 142019 Oct 17

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2019-October

Conference

Conference45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
CountryPortugal
CityLisbon
Period19/10/1419/10/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Arai, H., & Uchimura, Y. (2019). Model Predictive Control with Variable Prediction Horizon for a System including Time-varying Delay. In Proceedings: IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society (pp. 3281-3286). [8927383] (IECON Proceedings (Industrial Electronics Conference); Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/IECON.2019.8927383