Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
2015 ◽
Vol 2015
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pp. 1-12
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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 delay-dependent stability criteria are obtained under linear-matrix-inequalities conditions. The performance of the teleoperation scheme is tested driving a virtual nonlinear 6DOF dynamic model of a minihelicopter in a human-in-the-loop simulation.
New Stability Analysis for Linear Systems with Time-Varying Delay Based on Combined Convex Technique
2015 ◽
Vol 2015
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pp. 1-9
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2015 ◽
Vol 2015
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pp. 1-13
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2018 ◽
Vol 45
(1)
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pp. 152-166
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Keyword(s):
2021 ◽
pp. 014233122199272
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