eprintid: 604
rev_number: 9
eprint_status: archive
userid: 7
dir: disk0/00/00/06/04
datestamp: 2011-07-27 09:19:30
lastmod: 2014-07-16 14:13:47
status_changed: 2011-07-27 09:19:30
type: book_section
metadata_visibility: show
item_issues_count: 0
creators_name: Bemporad, Alberto
creators_id: alberto.bemporad@imtlucca.it
title: Predictive control of teleoperated constrained systems with unbounded communication delays
ispublished: pub
subjects: QA75
subjects: TJ
divisions: CSA
full_text_status: none
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
date: 1998
date_type: published
publication: Proc. 37th IEEE Conf. on Decision and Control,
volume: 2
publisher: IEEE
place_of_pub: Tampa, Florida, December 1998
pagerange: 2133-2138
event_dates: Tampa, FL
id_number: 10.1109/CDC.1998.758651
refereed: TRUE
isbn: 0-7803-4394-8 
book_title: Decision and Control Conference
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=758651&isnumber=16376
citation:   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)