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

Yuhei Hatori, Hiroki Nagakura, Yutaka Uchimura

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781728190235
DOI
出版ステータスPublished - 2021 6月 20
イベント30th IEEE International Symposium on Industrial Electronics, ISIE 2021 - Kyoto, Japan
継続期間: 2021 6月 202021 6月 23

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics
2021-June

Conference

Conference30th IEEE International Symposium on Industrial Electronics, ISIE 2021
国/地域Japan
CityKyoto
Period21/6/2021/6/23

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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