MPC based tele-driving by compensating time-varying delay

Hiroki Nagakura; Hiroki Arai; Yutaka Uchimura

doi:10.1109/IECON43393.2020.9254537

MPC based tele-driving by compensating time-varying delay

Hiroki Nagakura, Hiroki Arai, Yutaka Uchimura

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

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings - IECON 2020
Subtitle of host publication	46th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
Pages	3556-3561
Number of pages	6
ISBN (Electronic)	9781728154145
DOIs	https://doi.org/10.1109/IECON43393.2020.9254537
Publication status	Published - 2020 Oct 18
Event	46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 - Virtual, Singapore, Singapore Duration: 2020 Oct 19 → 2020 Oct 21

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)
Volume	2020-October

Conference

Conference	46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020
Country/Territory	Singapore
City	Virtual, Singapore
Period	20/10/19 → 20/10/21

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/IECON43393.2020.9254537

Cite this

Nagakura, H., Arai, H., & Uchimura, Y. (2020). MPC based tele-driving by compensating time-varying delay. In Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society (pp. 3556-3561). Article 9254537 (IECON Proceedings (Industrial Electronics Conference); Vol. 2020-October). IEEE Computer Society. https://doi.org/10.1109/IECON43393.2020.9254537

MPC based tele-driving by compensating time-varying delay. / Nagakura, Hiroki; Arai, Hiroki; Uchimura, Yutaka.
Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2020. p. 3556-3561 9254537 (IECON Proceedings (Industrial Electronics Conference); Vol. 2020-October).

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

Nagakura, H, Arai, H & Uchimura, Y 2020, MPC based tele-driving by compensating time-varying delay. in Proceedings - IECON 2020: 46th Annual Conference of the IEEE Industrial Electronics Society., 9254537, IECON Proceedings (Industrial Electronics Conference), vol. 2020-October, IEEE Computer Society, pp. 3556-3561, 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020, Virtual, Singapore, Singapore, 20/10/19. https://doi.org/10.1109/IECON43393.2020.9254537

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abstract = "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.",

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MPC based tele-driving by compensating time-varying delay

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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