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.
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