Control for delayed bilateral teleoperation of a quadrotor

Area of Science:

• Robotics
• Control Systems
• Aerospace Engineering

Background:

• Bilateral teleoperation systems often face challenges due to time delays, impacting stability and performance.
• Controlling complex systems like quadcopters in real-time with delays requires robust control strategies.

Purpose of the Study:

• To propose a cascade control scheme for stable and high-performance delayed bilateral teleoperation of a quadcopter.
• To simplify the teleoperation of a 6-Dimensional (6D) real quadcopter by mapping it to a 3-Dimensional (3D) virtual quadcopter.

Main Methods:

• A cascade control scheme employing P+d plus PID controllers for each degree of freedom (DOF).
• Lyapunov stability theory was used to determine control parameters based on asymmetric time delay magnitudes.
• Experimental validation of the proposed control scheme in a delayed bilateral teleoperation setup.

Main Results:

• The proposed control scheme effectively manages asymmetric time delays, ensuring system stability.
• The transformation to a 3D virtual quadcopter simplifies the teleoperation task.
• Experimental results demonstrate good practical performance and stability.

Conclusions:

• The developed cascade control scheme offers a stable, simple, and effective solution for delayed quadcopter teleoperation.
• The method provides a practical approach to setting control parameters according to time delay characteristics.
• This work contributes to enhancing the usability and reliability of teleoperated quadcopter systems.