BILATERAL TELEOPERATION OF A ROTORCRAFT UAV WITH TIME-VARYING DELAY

LUCIO SALINAS; EMANUEL SLAWIÑSKI; VICENTE MUT

Buenos Aires

Congreso; 24 Congreso Argentino de Control Automático; 2014

AADECA

This paper proposes the use of simple PD-like 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 a delaydependent stability criteria is obtained under linear-matrix-inequalities conditions. The performance of the teleoperation scheme is tested driving a virtual nonlinear 6DOF dynamic model of a mini-helicopter in a human-in-the-loop simulation.