TY - GEN
T1 - Model based predictive control for a system with long time delay
AU - Kobayashi, Koji
AU - Uchimura, Yutaka
N1 - Funding Information:
This research is supported by the Space Exploration Innovation Hub Center of Japan Aerospace Exploration Agency, JAXA, whose activity is selected for the support program for starting up innovation hub sponsored by the Japan Science and Technology Agency (JST).
Publisher Copyright:
© 2018 IEEE.
PY - 2018/6/1
Y1 - 2018/6/1
N2 - This paper proposes a control method that compensates the time delay in a system by predicting the future states of a plant. The proposed method contains a state predictor that predicts the future values of a system. Furthermore, the proposed method considers the uncertainty in a model in terms of modeling error, which might cause the predicted value to degrade the performance of the system or even destabilize it in the worst case. The disturbance in a remote plant is explicitly considered and is compensated by placing a feedback controller on the remote side. This paper describes the proposed control method based on model-based predictive control that considers modeling error. Furthermore, this paper describes a method of designing a feedback controller based on the H∞ norm. The stability of the proposed system is analyzed, and the performance of the method is evaluated and compared with a conventional methods using numerical simulation results.
AB - This paper proposes a control method that compensates the time delay in a system by predicting the future states of a plant. The proposed method contains a state predictor that predicts the future values of a system. Furthermore, the proposed method considers the uncertainty in a model in terms of modeling error, which might cause the predicted value to degrade the performance of the system or even destabilize it in the worst case. The disturbance in a remote plant is explicitly considered and is compensated by placing a feedback controller on the remote side. This paper describes the proposed control method based on model-based predictive control that considers modeling error. Furthermore, this paper describes a method of designing a feedback controller based on the H∞ norm. The stability of the proposed system is analyzed, and the performance of the method is evaluated and compared with a conventional methods using numerical simulation results.
KW - Model-based predictive control
KW - Networked-based control
KW - Tele-operation system
KW - Time delay system
UR - http://www.scopus.com/inward/record.url?scp=85048805481&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2019.8371158
DO - 10.1109/AMC.2019.8371158
M3 - Conference contribution
AN - SCOPUS:85048805481
T3 - Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
SP - 581
EP - 586
BT - Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Workshop on Advanced Motion Control, AMC 2018
Y2 - 9 March 2018 through 11 March 2018
ER -