Abstract
We propose a novel semiautonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master passivity/slave stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.
Original language | English |
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Article number | 6522198 |
Pages (from-to) | 1334-1345 |
Number of pages | 12 |
Journal | IEEE/ASME Transactions on Mechatronics |
Volume | 18 |
Issue number | 4 |
DOIs | |
Publication status | Published - 2013 |
Keywords
- Haptic feedback
- multiagent control
- passivity
- teleoperation
- unmanned aerial vehicles (UAVs)
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering