Teleoperation with variable and large time delay based on MPC and model error compensator

In this paper, we propose a compensation method for systems with time-varying delay based on model predictive control (MPC). The objective is to improve the Responsiveness and compensate for disturbances and modeling errors. The effect on the tracking performance caused by the disturbance is formulated and included in MPC to eliminate the disturbance. Model Error Compensator, which has been proposed as a model error compensation considering sensor noise, is introduced to the remote side. Furthermore, a new state feedback element is added to the remote side to enable adjustment of the system settling time.