Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
Joint Authors
Mut, Vicente
Salinas, Lucio R.
Slawiñski, Emanuel
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-08-11
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper proposes the use of simple proportionalplus damping injection (P+d) controllers for delayedbilateral teleoperation of a rotorcraft UAV.
The proposedcontrol scheme involves P+d remote and localcontrollers, considers master and slave dynamics, andtakes into account asymmetric time-varying delays.
The stability of the proposed teleoperation system isanalyzed using Lyapunov-Krasovskii functionals anddelay-dependent stability criteria are obtained underlinear-matrix-inequalities conditions.
The performanceof the teleoperation scheme is tested drivinga virtual nonlinear 6DOF dynamic model of a minihelicopterin a human-in-the-loop simulation.
American Psychological Association (APA)
Salinas, Lucio R.& Slawiñski, Emanuel& Mut, Vicente. 2015. Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1073473
Modern Language Association (MLA)
Salinas, Lucio R.…[et al.]. Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay. Mathematical Problems in Engineering No. 2015 (2015), pp.1-12.
https://search.emarefa.net/detail/BIM-1073473
American Medical Association (AMA)
Salinas, Lucio R.& Slawiñski, Emanuel& Mut, Vicente. Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1073473
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073473
