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

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.