Drive-by-Wireless Teleoperation with Network QoS Adaptation

Abstract—This paper describes an adaptation scheme for drive-by-wireless teleoperation of an electric vehicle. The performance variation due to the varying time delay and packet losses is investigated and catered for by using an adaptive gain scheduling as well as varying network load in the co-design framework. A support vector machine (SVM) predictor is proposed for network delay and packet loss prediction while, fuzzy based estimation and control is employed for QoS evaluation and corresponding reconfiguration for video packet rate and controller gain in order to ensure passivity and improved transparence. Keywords-Networked teleoperation; co-design problem; drive-by-wireless; supervised learning; QoS estimation I