Online estimation of mechanical impedance for time delay compensation on driving assistant

Mehdi Hazaz, Baptiste Rouzier, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publicationProceedings - 2017 International Conference on Research and Education in Mechatronics, REM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538618820
DOIs
Publication statusPublished - 2017 Oct 19
Event2017 International Conference on Research and Education in Mechatronics, REM 2017 - Wolfenbuettel, Germany
Duration: 2017 Sep 142017 Sep 15

Other

Other2017 International Conference on Research and Education in Mechatronics, REM 2017
CountryGermany
CityWolfenbuettel
Period17/9/1417/9/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Education

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