@incollection{eprints604,
          author = {Alberto Bemporad},
       publisher = {IEEE},
         journal = {Proc. 37th IEEE Conf. on Decision and Control,},
       booktitle = {Decision and Control Conference},
           pages = {2133--2138},
         address = {Tampa, Florida, December 1998},
          volume = {2},
            year = {1998},
           title = {Predictive control of teleoperated constrained systems with unbounded communication delays},
        keywords = {Internet; delays; predictive control; synchronisation; telerobotics; transport protocols},
        abstract = {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},
             url = {http://eprints.imtlucca.it/604/}
}