MPC based tele-driving by compensating time-varying delay

Hiroki Nagakura, Hiroki Arai, Yutaka Uchimura

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

Abstract

This paper propose a control method for tele-driving by compensating time-varying delay based on model predictive control (MPC), which improves the performance of the trajectory tracking and response. In the design of MPC based controller, an additional term is included to the cost function that reflects the difference between the input values for the local predictive model and those for the remote plant. Stability of the MPC based system is guaranteed by imposing a constraint of control input value comparing with linear controller. The performance of the proposed method is evaluated by numerical simulations and virtual experiments with human operators.

Original languageEnglish
Title of host publicationProceedings - IECON 2020
Subtitle of host publication46th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Pages3556-3561
Number of pages6
ISBN (Electronic)9781728154145
DOIs
Publication statusPublished - 2020 Oct 18
Event46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore
Duration: 2020 Oct 192020 Oct 21

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2020-October

Conference

Conference46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
Country/TerritorySingapore
CityVirtual, Singapore
Period20/10/1920/10/21

Keywords

  • Kalman filter
  • model predictive control
  • stability
  • tele-driving
  • time-varying delay

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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