Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay

LUCIO RAFAEL SALINAS; EMANUEL SLAWIÑSKI; VICENTE MUT

MATHEMATICAL PROBLEMS IN ENGINEERING

HINDAWI PUBLISHING CORPORATION

Lugar: New York; Año: 2015

1024-123X

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 a delay-dependent 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.