TY - GEN
T1 - Teleoperation with variable and large time delay based on MPC and model error compensator
AU - Hatori, Yuhei
AU - Nagakura, Hiroki
AU - Uchimura, Yutaka
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/6/20
Y1 - 2021/6/20
N2 - 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.
AB - 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.
KW - Kalman filter
KW - model error compensator
KW - model predictive control
KW - tele-driving
KW - time-varying delay
UR - http://www.scopus.com/inward/record.url?scp=85118779960&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85118779960&partnerID=8YFLogxK
U2 - 10.1109/ISIE45552.2021.9576258
DO - 10.1109/ISIE45552.2021.9576258
M3 - Conference contribution
AN - SCOPUS:85118779960
T3 - IEEE International Symposium on Industrial Electronics
BT - Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 30th IEEE International Symposium on Industrial Electronics, ISIE 2021
Y2 - 20 June 2021 through 23 June 2021
ER -