Teleoperation of constrained dynamical systems over a TCP/IP local network

In this paper we present a predictive strategy for teleoperating, through communication channels with unknown and possibly unbounded time-delay, a remotely located pre-compensated plant subject to input and state-related pointwise-in-time constraints. In order to demonstrate its effectiveness, a challenging master/slave teleoperating problem over a local TCP/IP network is formulated. It involves a locally pre-compensated laboratory cart/rod Inverted Pendulum as a remote plant and the problem consists in its wide-range stabilization under constraints on the cart motor voltage and rod angle excursion, while providing tracking performance on the cart position.