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MPC based tele-driving by compensating time-varying delay

This paper propose a control method for tele-driving by compensating time-varying delay based on model predictive control (MPC), which improves the performance of the trajectory tracking and response. In the design of MPC based controller, an additional term is included to the cost function that reflects the difference between the input values for the local predictive model and those for the remote plant. Stability of the MPC based system is guaranteed by imposing a constraint of control input value comparing with linear controller. The performance of the proposed method is evaluated by numerical simulations and virtual experiments with human operators.