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.
Highlights
Over the last two decades, unmanned aerial vehicles (UAVs) have become an important scientific research topic
This paper proposes the use of simple proportional plus damping injection (P+d) controllers for delayed bilateral teleoperation of a rotorcraft UAV
Due to its simplicity and robustness, this work proposes the use of P+d controllers for bilateral teleoperation of a rotorcraft-based UAVs (RUAVs) with time-varying delay considering the master device and slave vehicle dynamics
Summary
Over the last two decades, unmanned aerial vehicles (UAVs) have become an important scientific research topic. In the first two researches, the passivity of the master side is obtained applying feedback r-passivity notion [18]; it is claimed that the passivity of the teleoperation system can be enforced using any of the techniques developed in conventional teleoperation settings In the latter two investigations, passive set-position modulation (PSPM) framework [19] is utilized to theoretically guarantee masterpassivity/VPs-stability of the closed-loop teleoperation system (where VPs refer to the virtual points followed by each UAV). Due to its simplicity and robustness, this work proposes the use of P+d controllers for bilateral teleoperation of a RUAV with time-varying delay considering the master device and slave vehicle dynamics. To test the performance of the teleoperation scheme a human-in-the-loop (HITL) simulation is carried out; there, a human operator drives a RUAV through an outdoor environment and has visual and force feedback under a communication channel with asymmetric time-varying delay.
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