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

Autores
Salinas, Lucio Rafael; Mut, Vicente Antonio; Slawiñski, Emanuel
Año de publicación
2015
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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.
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Materia
Teleoperation
Delay
UAV
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/4868
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying DelaySalinas, Lucio RafaelMut, Vicente AntonioSlawiñski, EmanuelTeleoperationDelayUAVhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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.Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaHindawi Publishing Corporation2015-07info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/4868Salinas, Lucio Rafael; Mut, Vicente Antonio; Slawiñski, Emanuel; Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay; Hindawi Publishing Corporation; Mathematical Problems In Engineering; 2015; 7-2015; 305314-3053141024-123X1563-5147enginfo:eu-repo/semantics/altIdentifier/url/http://www.hindawi.com/journals/mpe/2015/305314/info:eu-repo/semantics/altIdentifier/doi/10.1155/2015/305314info:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/altIdentifier/url/http://www.hindawi.com/journals/mpe/2015/305314/http://www.hindawi.com/journals/mpe/2015/305314/info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-03T10:01:40Zoai:ri.conicet.gov.ar:11336/4868instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-03 10:01:40.352CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
title Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
spellingShingle Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
Salinas, Lucio Rafael
Teleoperation
Delay
UAV
title_short Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
title_full Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
title_fullStr Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
title_full_unstemmed Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
title_sort Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay
dc.creator.none.fl_str_mv Salinas, Lucio Rafael
Mut, Vicente Antonio
Slawiñski, Emanuel
author Salinas, Lucio Rafael
author_facet Salinas, Lucio Rafael
Mut, Vicente Antonio
Slawiñski, Emanuel
author_role author
author2 Mut, Vicente Antonio
Slawiñski, Emanuel
author2_role author
author
dc.subject.none.fl_str_mv Teleoperation
Delay
UAV
topic Teleoperation
Delay
UAV
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv 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.
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
description 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.
publishDate 2015
dc.date.none.fl_str_mv 2015-07
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/4868
Salinas, Lucio Rafael; Mut, Vicente Antonio; Slawiñski, Emanuel; Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay; Hindawi Publishing Corporation; Mathematical Problems In Engineering; 2015; 7-2015; 305314-305314
1024-123X
1563-5147
url http://hdl.handle.net/11336/4868
identifier_str_mv Salinas, Lucio Rafael; Mut, Vicente Antonio; Slawiñski, Emanuel; Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay; Hindawi Publishing Corporation; Mathematical Problems In Engineering; 2015; 7-2015; 305314-305314
1024-123X
1563-5147
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.hindawi.com/journals/mpe/2015/305314/
info:eu-repo/semantics/altIdentifier/doi/10.1155/2015/305314
info:eu-repo/semantics/altIdentifier/doi/
info:eu-repo/semantics/altIdentifier/url/http://www.hindawi.com/journals/mpe/2015/305314/http://www.hindawi.com/journals/mpe/2015/305314/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Hindawi Publishing Corporation
publisher.none.fl_str_mv Hindawi Publishing Corporation
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1842269710367850496
score 13.13397

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