INVESTIGADORES
SLAWIÑSKI Emanuel
congresos y reuniones científicas
Título:
DELAYED BILATERAL TELEOPERATION OF A QUADCOPTER
Autor/es:
EMANUEL SLAWIÑSKI; DIEGO SANTIAGO; VICENTE MUT
Lugar:
Buenos Aires
Reunión:
Congreso; AADECA; 2016
Institución organizadora:
AADECA
Resumen:
This paper proposes a cascade control scheme for delayed bilateral teleoperation of a quadcopter. The strategy transforms a 6D real quadcopter to an easy-to-teleoperate 3D virtual quadcopter. The scheme is formed by a P+d plus PID controller for each dof. This technic aims to reach stability, simplicity and good performance in practice. Besides, human-in-the-loop tests about delayed bilateral teleoperation of a quadcopter including the proposed control scheme are shown in order to evaluate the system performance.
