Teleoperation and control of mini-helicopters: A case study

LUCIO SALINAS; EMANUEL SLAWIÑSKI; VICENTE MUT; JOSÉ MARÍA SEBASTIÁN

Robots de Exteriores

Centro de Automática y Robótica CSIC-UPM

Lugar: Madrid, España; Año: 2010; p. 247 - 267

This paper proposes a first design of a bilateral teleoperation system for a mini-helicopter in which forward and backward delays between local and remote site are considered, along with the human operator reaction delay. The proposed system includes a command delay compensation on the re-mote site in order to modify the reference command generated by the hu-man operator in the local site, which was proposed based on past informa-tion (due to delay), this correction can generate references that consider the human operator’s intention, but also incorporate current situations which are not considered by the operator. Teleoperation simulations are presented to illustrate the performance of the proposed control system.