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

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  • Lucio R. Salinas
  • Emanuel Slawiñski
  • Vicente A. Mut

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.

Suggested Citation

  • Lucio R. Salinas & Emanuel Slawiñski & Vicente A. Mut, 2015. "Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-12, August.
    • Handle: RePEc:hin:jnlmpe:305314
    DOI: 10.1155/2015/305314
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