Remote Control of Vehicles in an Environment with Random Communication Delay

Abstract

Recently, a control method has been proposed to guarantee the second moment stability, which is a stability index of stochastic systems, for plants with stochastic parameters. This method can be easily coupled with conventional LMI techniques, and thus can be used for advanced control system design. In this paper, we modeled the communication delay with probability distributions and applied the method to a network control system that controls vehicles from a remote location. In addition, we confirmed its effectiveness through simulations and experiments using a driving simulator.