Teleoperation with variable and large time delay based on MPC and model error compensator

Yuhei Hatori, Hiroki Nagakura, Yutaka Uchimura

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

Abstract

In this paper, we propose a compensation method for systems with time-varying delay based on model predictive control (MPC). The objective is to improve the Responsiveness and compensate for disturbances and modeling errors. The effect on the tracking performance caused by the disturbance is formulated and included in MPC to eliminate the disturbance. Model Error Compensator, which has been proposed as a model error compensation considering sensor noise, is introduced to the remote side. Furthermore, a new state feedback element is added to the remote side to enable adjustment of the system settling time.

Original languageEnglish
Title of host publicationProceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728190235
DOIs
Publication statusPublished - 2021 Jun 20
Event30th IEEE International Symposium on Industrial Electronics, ISIE 2021 - Kyoto, Japan
Duration: 2021 Jun 202021 Jun 23

Publication series

NameIEEE International Symposium on Industrial Electronics
Volume2021-June

Conference

Conference30th IEEE International Symposium on Industrial Electronics, ISIE 2021
Country/TerritoryJapan
CityKyoto
Period21/6/2021/6/23

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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