モデルベース予測制御による時間遅れを有する遠隔システムの制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2018/04/01

タイトル(英語): Model based Predictive Control for Tele-operational Control System with Time Delay

著者名: 小林　浩司（芝浦工業大学），内村　裕（芝浦工業大学）

著者名(英語): Koji Kobayshi (Shibaura Institute Technology), Yutaka Uchimura (Shibaura Institute Technology)

キーワード: 時間遅れシステム，モデルベース予測制御，テレオペレーションシステム，ネットワークベース制御　　time delayed system，model-based predictive control，tele-operation system，network based control

要約(英語): This paper proposes a control method that compensates for a system with time delay by predicting the future states of the plant. The proposed method contains a state predictor that predicts the future values of a system. Furthermore, the proposed method also considers the uncertainty of the model in terms of the modeling error, which might cause the predicted value to degrade the performance of the system or even destabilize it in the worst case. The disturbance in the remote plant is explicitly considered and is compensated for by locating a feedback controller in the remote side. This paper described the proposed control method based on model-based predictive control that considers modeling error. The stability of the proposed system is analyzed, and performance of the method is evaluated in comparison with conventional methods using numerical simulation results.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.138 No.4 （2018） 特集：平成29 年産業応用部門大会

本誌掲載ページ: 323-329 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/138/4/138_323/_article/-char/ja/