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Predictive control of teleoperated constrained systems with unbounded communication delays
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.
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Cited by
Reference and command governors for systems with constraints: A survey on theory and applications
Garone, E., Di Cairano, S., & Kolmanovsky, I. (2017) · Automatica · doi:10.1016/j.automatica.2016.08.013 · Cited by 466
A Robust Model Predictive Control Method for Networked Control Systems
Beger, S., & Hirche, S. (2024) · 2024 IEEE 63rd Conference on Decision and Control (CDC) · doi:10.1109/cdc56724.2024.10886340 · Cited by 2
Metadata
- Authors
- Bemporad, A.
- Venue
- Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171)
- Publisher
- IEEE
- Published
- 2002-11-28
- Volume
- 2
- Pages
- 2133-2138
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W1837593177
- Cited by
- 182
- References
- 0
- FWCI
- 5.86
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Predictive control of teleoperated constrained systems with unbounded communication delays. https://app.cochat.ai/papers/10.1109/cdc.1998.758651
- The paper
- Bemporad, A. (2002). Predictive control of teleoperated constrained systems with unbounded communication delays. Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171). https://doi.org/10.1109/cdc.1998.758651
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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