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

Hiroki Arai, Yutaka Uchimura

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ページ3281-3286
ページ数6
ISBN(電子版)9781728148786
DOI
出版ステータスPublished - 2019 10
イベント45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
継続期間: 2019 10 142019 10 17

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2019-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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