Predictive control of teleoperated constrained systems with unbounded communication delays

摘要: 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 fact that predictive controllers provide, by-product, command sequences can be executed emergency maneuvers whenever communication channel broken by excessive time-delays. show how this exploited equipping controller some additional logic enables synchronization between plant, controller, and human operator.