Abstract
This paper describes a method for combining a control scheme for remote control under time delay with online estimation. In the proposed method, a driving assistant is used to react to events that occur in a horizon of the network round trip delay. Since such an approach result in the driving assistant torque echoing back into the remote controlled car, the proposed method design compensates for this issue. It is shown that this disturbance becomes of the order of the parameter estimation error in the controller. Secondly, an online estimator is used to compensate for this disturbance with robustness against initial parameter mismatch. Finally, numerical simulations are conducted to show the validity of the proposed method against no compensation, and to explicit the benefit gained from implementing a robust online estimator.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2017 International Conference on Research and Education in Mechatronics, REM 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781538618820 |
| DOIs | |
| Publication status | Published - 2017 Oct 19 |
| Event | 2017 International Conference on Research and Education in Mechatronics, REM 2017 - Wolfenbuettel, Germany Duration: 2017 Sept 14 → 2017 Sept 15 |
Other
| Other | 2017 International Conference on Research and Education in Mechatronics, REM 2017 |
|---|---|
| Country/Territory | Germany |
| City | Wolfenbuettel |
| Period | 17/9/14 → 17/9/15 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Mechanical Engineering
- Education