Development of predictive remote control system to compensate time varying delay with variable horizon length

2021 Fiscal Year Final Research Report

• Project/Area Number: 19K04457
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 21040:Control and system engineering-related
• Research Institution: Shibaura Institute of Technology
• Principal Investigator: Uchimura Yutaka 芝浦工業大学, 工学部, 教授 (00416710)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: 遠隔操作 / モデル予測制御 / ネットワーク制御 / 通信遅延

Outline of Final Research Achievements

In this research, we focused on the fact that the target value contained in a packet that arrives earlier than the assumed delay is scheduled to be given to the control target after the arrival time (in the future).
By actively utilizing the target value, which has conventionally waited until the scheduled time, we proposed a method to sequentially calculate the optimal control input by setting it in a reference trajectory placed on the control target side using a model predictive control system (MPC) with a variable-length prediction horizon. The system was implemented in a real system and compared with the conventional method, and the performance improvement of the proposed method was confirmed.

Free Research Field

制御工学

Academic Significance and Societal Importance of the Research Achievements

IoT技術の進展・普及との相互作用により、任意の場所から、所望の制御対象を操作する技術が大きく前進し、移動を伴うことで失われるエネルギー、コストの削減につながる。この結果、例えば医療現場において実現が望まれている遠隔診療や遠隔手術技術の進展にも貢献することが期待できる。