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Predictive control of teleoperated constrained systems with unbounded communication delays

Bemporad, Alberto Predictive control of teleoperated constrained systems with unbounded communication delays. In: Decision and Control Conference. IEEE, Tampa, Florida, December 1998, pp. 2133-2138. ISBN 0-7803-4394-8 (1998)

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We present a control technique which allows the teleoperation of systems subject to input/state constraints through transmission channels with unbounded time-delays, such as Internet TCP/IP connections. The main idea is based on the fact that predictive controllers provide, as a by-product, command sequences which can be executed as emergency maneuvers whenever the communication channel is broken by excessive time-delays. We show how this idea can be exploited by equipping the predictive controller with some additional control logic which enables the synchronization between plant, predictive controller, and human operator

Item Type: Book Section
Identification Number: 10.1109/CDC.1998.758651
Uncontrolled Keywords: Internet; delays; predictive control; synchronisation; telerobotics; transport protocols
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 09:19
Last Modified: 16 Jul 2014 14:13
URI: http://eprints.imtlucca.it/id/eprint/604

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