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.
Original language | English |
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Article number | 305314 |
Journal | Mathematical Problems in Engineering |
Volume | 2015 |
DOIs | |
Publication status | Published - 11 Aug 2015 |
Bibliographical note
Publisher Copyright:© 2015 Lucio R. Salinas et al.