AIAA Modeling and Simulation Technologies Conference 2011
DOI: 10.2514/6.2011-6243
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Admittance-Based Bilateral Teleoperation with Time Delay for an Unmanned Aerial Vehicle involved in an Obstacle Avoidance Task

Abstract: The paper focuses on the implementation of an admittance based control scheme in a bilateral teleoperation set-up for an Unmanned Aerial Vehicle (UAV) under time delay. The goal of this study is to assess and improve the stability characteristics of the bilateral teleoperator. Computer simulations were conducted to evaluate the effectiveness of the admittance-based control scheme. A commercial impedance-like haptic device was chosen to simulate the control stick: the master device. The slave system is constitu… Show more

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Cited by 5 publications
(2 citation statements)
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“…Although several techniques can be used to design a compensator, experience shows that many of these may lead to a haptic "controller" that generates stick motion differently from what the pilot would do to minimize the tracking error [29]. In such a case, the pilot may oppose the haptic cues instead of following them, which would result in degraded closed-loop performance.…”
Section: A Dha Approachmentioning
confidence: 98%
“…Although several techniques can be used to design a compensator, experience shows that many of these may lead to a haptic "controller" that generates stick motion differently from what the pilot would do to minimize the tracking error [29]. In such a case, the pilot may oppose the haptic cues instead of following them, which would result in degraded closed-loop performance.…”
Section: A Dha Approachmentioning
confidence: 98%
“…The NOVINT Falcon employs a delta robot mechanical structure that is capable of measuring the position of the joystick's end effector and exerting a scaled force. A high gain PID (Proportional Integral Derivative) position controller and force estimator are implemented to approximate the admittance configuration [51], [52]. Given the limitations of the joystick hardware, the translational degrees of freedom of the joystick are mapped to the linear velocities of the slave vehicle and the side buttons are used to change the heading of the robot.…”
Section: A Master Haptic Joystick For Supervisory Controlmentioning
confidence: 99%