TY  - CHAP
PB  - IEEE
TI  - Predictive control of teleoperated constrained systems with unbounded communication delays
EP  - 2138
SN  - 0-7803-4394-8 
N2  - 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
SP  - 2133
A1  - Bemporad, Alberto
T2  - Decision and Control Conference
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=758651&isnumber=16376
Y1  - 1998///
AV  - none
KW  - Internet; delays; predictive control; synchronisation; telerobotics; transport protocols
ID  - eprints604
CY  - Tampa, Florida, December 1998
M1  - 2
ER  -