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Predictive control of teleoperated constrained systems with unbounded communication delays


A. Bemporad

IEEE Conference on Decision and Control, Tampa, Florida, USA, pp. 2133-2138

In this paper 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.


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% Autogenerated BibTeX entry
@InProceedings { Xxx:1998:IFA_403,
    author={A. Bemporad},
    title={{Predictive control of teleoperated constrained systems with
	  unbounded communication delays}},
    booktitle={IEEE Conference on Decision and Control},
    address={Tampa, Florida, USA},
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