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Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs
Joint Authors
Song, Guangming
Sun, Hui-yu
Wei, Zhong
Zhang, Ying
Source
International Journal of Aerospace Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-22, 22 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-05-22
Country of Publication
Egypt
No. of Pages
22
Abstract EN
This paper proposes an energy-optimized consensus formation scheme for the time-delayed bilateral teleoperation system of multiple unmanned aerial vehicles (UAVs) in the obstructed environment.
To deal with the asymmetric time-varying delays in aerial teleoperation, the local damping is independently distributed on both sides to enforce consensus formation and force tracking of the master haptic device and the slave UAVs.
The stability of the time-delayed aerial teleoperation system is analyzed by the Lyapunov function.
In addition, a flux-conserved force field is incorporated into the aerial teleoperation system to guarantee a collision-free consensus formation in the obstructed environment.
Moreover, to reduce the communication complexity and energy dissipation of the formation, a top-down strategy of 3D optimal persistent graph is first proposed to optimize the formation topology.
Under the optimized topology with environmental constraints, communication complexity and energy dissipation can be minimized while the rigid formation can be maintained and transformed persistently in the obstructed environment.
Finally, the human-in-the-loop simulations are performed to validate the effectiveness of the proposed scheme.
American Psychological Association (APA)
Sun, Hui-yu& Song, Guangming& Wei, Zhong& Zhang, Ying. 2018. Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs. International Journal of Aerospace Engineering،Vol. 2018, no. 2018, pp.1-22.
https://search.emarefa.net/detail/BIM-1166981
Modern Language Association (MLA)
Sun, Hui-yu…[et al.]. Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs. International Journal of Aerospace Engineering No. 2018 (2018), pp.1-22.
https://search.emarefa.net/detail/BIM-1166981
American Medical Association (AMA)
Sun, Hui-yu& Song, Guangming& Wei, Zhong& Zhang, Ying. Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs. International Journal of Aerospace Engineering. 2018. Vol. 2018, no. 2018, pp.1-22.
https://search.emarefa.net/detail/BIM-1166981
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1166981