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
Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
1563-5147
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay
BASE
|Bilateral Control of Nonlinear Teleoperation with Time Varying Delays
British Library Online Contents | 2009
|Stable Bilateral Teleoperation Control Method for Biped Robots with Time-Varying Delays
TIBKAT | 2023
|BASE | 2016
|