Tele-driving including time-varying delay based on MPC with stability constraints

Hiroki Nagakura; Yuhei Hatori; Yutaka Uchimura

doi:10.1109/IECON48115.2021.9589762

Tele-driving including time-varying delay based on MPC with stability constraints

Hiroki Nagakura, Yuhei Hatori, Yutaka Uchimura

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

Abstract

In this paper, we propose a compensation method of a tele-driving system containing time-varying delay based on model predictive control(MPC). Especially, we aim at the improvement of tracking performance and response and the stabilization of the system including MPC. The difference between the input to the prediction model and the input to the plant is reflected in the cost function of the MPC to improve the responsiveness of the system. The MPC controller is designed to maintain the stability by imposing constraints of the bounded inputs through the introduction of a virtual substitute controller. The performance of the proposed method is evaluated by numerical simulations and experiments with human operators.

Original language	English
Title of host publication	IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
ISBN (Electronic)	9781665435543
DOIs	https://doi.org/10.1109/IECON48115.2021.9589762
Publication status	Published - 2021 Oct 13
Event	47th Annual Conference of the IEEE Industrial Electronics Society, IECON 2021 - Toronto, Canada Duration: 2021 Oct 13 → 2021 Oct 16

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2021-October

Conference

Conference	47th Annual Conference of the IEEE Industrial Electronics Society, IECON 2021
Country/Territory	Canada
City	Toronto
Period	21/10/13 → 21/10/16

Keywords

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

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON48115.2021.9589762

Cite this

Tele-driving including time-varying delay based on MPC with stability constraints. / Nagakura, Hiroki; Hatori, Yuhei; Uchimura, Yutaka.

IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2021. (IECON Proceedings (Industrial Electronics Conference); Vol. 2021-October).

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

Nagakura, H, Hatori, Y & Uchimura, Y 2021, Tele-driving including time-varying delay based on MPC with stability constraints. in IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society. IECON Proceedings (Industrial Electronics Conference), vol. 2021-October, IEEE Computer Society, 47th Annual Conference of the IEEE Industrial Electronics Society, IECON 2021, Toronto, Canada, 21/10/13. https://doi.org/10.1109/IECON48115.2021.9589762

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abstract = "In this paper, we propose a compensation method of a tele-driving system containing time-varying delay based on model predictive control(MPC). Especially, we aim at the improvement of tracking performance and response and the stabilization of the system including MPC. The difference between the input to the prediction model and the input to the plant is reflected in the cost function of the MPC to improve the responsiveness of the system. The MPC controller is designed to maintain the stability by imposing constraints of the bounded inputs through the introduction of a virtual substitute controller. The performance of the proposed method is evaluated by numerical simulations and experiments with human operators.",

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N2 - In this paper, we propose a compensation method of a tele-driving system containing time-varying delay based on model predictive control(MPC). Especially, we aim at the improvement of tracking performance and response and the stabilization of the system including MPC. The difference between the input to the prediction model and the input to the plant is reflected in the cost function of the MPC to improve the responsiveness of the system. The MPC controller is designed to maintain the stability by imposing constraints of the bounded inputs through the introduction of a virtual substitute controller. The performance of the proposed method is evaluated by numerical simulations and experiments with human operators.

AB - In this paper, we propose a compensation method of a tele-driving system containing time-varying delay based on model predictive control(MPC). Especially, we aim at the improvement of tracking performance and response and the stabilization of the system including MPC. The difference between the input to the prediction model and the input to the plant is reflected in the cost function of the MPC to improve the responsiveness of the system. The MPC controller is designed to maintain the stability by imposing constraints of the bounded inputs through the introduction of a virtual substitute controller. The performance of the proposed method is evaluated by numerical simulations and experiments with human operators.

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Tele-driving including time-varying delay based on MPC with stability constraints

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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