DELAYED BILATERAL TELEOPERATION OF A QUADCOPTER

EMANUEL SLAWIÑSKI, DIEGO SANTIAGO, VICENTE MUT

Buenos Aires

Congreso; 25º Congreso Argentino de Control Automático; 2016

AADECA

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.