Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay

Lucio R. Salinas, Emanuel Slawiñski and Vicente A. Mut

Mathematical Problems in Engineering, 2015, vol. 2015, 1-12

Abstract:

This paper proposes the use of simple proportional plus damping injection (P+d) controllers for delayed bilateral teleoperation of a rotorcraft UAV. The proposed control scheme involves P+d remote and local controllers, considers master and slave dynamics, and takes into account asymmetric time-varying delays. The stability of the proposed teleoperation system is analyzed using Lyapunov-Krasovskii functionals and delay-dependent stability criteria are obtained under linear-matrix-inequalities conditions. The performance of the teleoperation scheme is tested driving a virtual nonlinear 6DOF dynamic model of a minihelicopter in a human-in-the-loop simulation.

Date: 2015
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:305314

DOI: 10.1155/2015/305314

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