The bilateral teleoperation of underactuated aerial vehicles is addressed. A force feedback joystick is used to remotely pilot the aircraft and reflect an image of the environment to the operator. This feedback is a virtual force, function of the distance to an obstacle or the rate of approaching it. It can be computed using the measurements of on-board sensors (i.e. telemetric or optic flow). Input to State Stability of the teleoperation loop with respect to bounded or dissipative virtual environment forces is established based on Lyapunov analysis.
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