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

Mehdi Hazaz, Baptiste Rouzier, Toshiyuki Murakami

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2017 International Conference on Research and Education in Mechatronics, REM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781538618820
DOI
出版ステータスPublished - 2017 10月 19
イベント2017 International Conference on Research and Education in Mechatronics, REM 2017 - Wolfenbuettel, Germany
継続期間: 2017 9月 142017 9月 15

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学
  • 教育

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