Complete bilateral teleoperation system for a rotorcraft UAV with time-varying delay

Lucio R. Salinas*, Emanuel Slawiñski, Vicente A. Mut

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

9 Citations (Scopus)

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 languageEnglish
Article number305314
JournalMathematical Problems in Engineering
Volume2015
DOIs
Publication statusPublished - 11 Aug 2015

Bibliographical note

Publisher Copyright:
© 2015 Lucio R. Salinas et al.

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