MPC based tele-driving by compensating time-varying delay

Hiroki Nagakura, Hiroki Arai, Yutaka Uchimura

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2020
ホスト出版物のサブタイトル46th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ページ3556-3561
ページ数6
ISBN(電子版)9781728154145
DOI
出版ステータスPublished - 2020 10 18
イベント46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore
継続期間: 2020 10 192020 10 21

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2020-October

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

フィンガープリント

「MPC based tele-driving by compensating time-varying delay」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル