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. ; Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina ; Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina ; Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina


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    Titel :

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


    Beteiligte:

    Anmerkungen:

    1563-5147


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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