%V 2
%I IEEE
%P 2133-2138
%T Predictive control of teleoperated constrained systems with unbounded communication delays
%R 10.1109/CDC.1998.758651
%J Proc. 37th IEEE Conf. on Decision and Control,
%B Decision and Control Conference
%C Tampa, Florida, December 1998
%D 1998
%L eprints604
%X 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
%A Alberto Bemporad
%K Internet; delays; predictive control; synchronisation; telerobotics; transport protocols