Bilateral shared autonomous system for MUMAV with nonpassive human and environment input interaction forces

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4 Scopus citations

Abstract

In this paper, the stability and synchronization control problem of bilateral shared autonomous system for miniature unmanned multirotor aerial vehicle (MUMAV) is addressed with nonpassive human and environment input forces. The master input interface design combines scaled position of the master manipulator with velocity signals of the MUMAV and reflected remote interaction forces. The slave input interaction interface is designed by combining scaled position and velocity of the master manipulator with the velocity of the remote slave MUMAV system. The data transmission between local master and remote MUMAV is assumed to be carried out by using dedicated internet communication network with negligible time delay. The convergence analysis is shown by using Lyapunov method. The analysis shows that the closed loop bilateral shared autonomous system is input-to-state stable and ultimately bounded with nonpassive human and environment input interaction force.

Original languageBritish English
Title of host publication2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages519-523
Number of pages5
ISBN (Electronic)9781509020652
DOIs
StatePublished - 26 Sep 2016
Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
Duration: 12 Jul 201615 Jul 2016

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2016-September

Conference

Conference2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Country/TerritoryCanada
CityBanff
Period12/07/1615/07/16

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