In this paper, we propose a compensation method for systems with a time-varying delay based on model predictive control (MPC). The objective is to improve the path tracking performance while compensating for varying time delay and disturbance. MPC predicts the plant state and sends it to the local predictor to suppress the increase in model error due to time delay. Additionally, the Kalman filter-based disturbance observer improves the responsiveness to disturbances. Experimental results show improved path tracking performance using the proposed method.
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