Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs
This paper proposes an energy-optimized consensus formation scheme for the time-delayed bilateral teleoperation system of multiple unmanned aerial vehicles (UAVs) in the obstructed environment. To deal with the asymmetric time-varying delays in aerial teleoperation, the local damping is independentl...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2018/2857674 |
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| _version_ | 1832566696764768256 |
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| author | Hui-yu Sun Guang-ming Song Zhong Wei Ying Zhang |
| author_facet | Hui-yu Sun Guang-ming Song Zhong Wei Ying Zhang |
| author_sort | Hui-yu Sun |
| collection | DOAJ |
| description | This paper proposes an energy-optimized consensus formation scheme for the time-delayed bilateral teleoperation system of multiple unmanned aerial vehicles (UAVs) in the obstructed environment. To deal with the asymmetric time-varying delays in aerial teleoperation, the local damping is independently distributed on both sides to enforce consensus formation and force tracking of the master haptic device and the slave UAVs. The stability of the time-delayed aerial teleoperation system is analyzed by the Lyapunov function. In addition, a flux-conserved force field is incorporated into the aerial teleoperation system to guarantee a collision-free consensus formation in the obstructed environment. Moreover, to reduce the communication complexity and energy dissipation of the formation, a top-down strategy of 3D optimal persistent graph is first proposed to optimize the formation topology. Under the optimized topology with environmental constraints, communication complexity and energy dissipation can be minimized while the rigid formation can be maintained and transformed persistently in the obstructed environment. Finally, the human-in-the-loop simulations are performed to validate the effectiveness of the proposed scheme. |
| format | Article |
| id | doaj-art-a3fb43f3d7114acbaa4cde236d0f9913 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-a3fb43f3d7114acbaa4cde236d0f99132025-02-03T01:03:24ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742018-01-01201810.1155/2018/28576742857674Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVsHui-yu Sun0Guang-ming Song1Zhong Wei2Ying Zhang3School of Instrument Science and Engineering, Southeast University, Nanjing 210018, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210018, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210018, ChinaSchool of Automation, Nanjing Institute of Technology, Nanjing 211100, ChinaThis paper proposes an energy-optimized consensus formation scheme for the time-delayed bilateral teleoperation system of multiple unmanned aerial vehicles (UAVs) in the obstructed environment. To deal with the asymmetric time-varying delays in aerial teleoperation, the local damping is independently distributed on both sides to enforce consensus formation and force tracking of the master haptic device and the slave UAVs. The stability of the time-delayed aerial teleoperation system is analyzed by the Lyapunov function. In addition, a flux-conserved force field is incorporated into the aerial teleoperation system to guarantee a collision-free consensus formation in the obstructed environment. Moreover, to reduce the communication complexity and energy dissipation of the formation, a top-down strategy of 3D optimal persistent graph is first proposed to optimize the formation topology. Under the optimized topology with environmental constraints, communication complexity and energy dissipation can be minimized while the rigid formation can be maintained and transformed persistently in the obstructed environment. Finally, the human-in-the-loop simulations are performed to validate the effectiveness of the proposed scheme.http://dx.doi.org/10.1155/2018/2857674 |
| spellingShingle | Hui-yu Sun Guang-ming Song Zhong Wei Ying Zhang Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs International Journal of Aerospace Engineering |
| title | Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs |
| title_full | Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs |
| title_fullStr | Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs |
| title_full_unstemmed | Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs |
| title_short | Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs |
| title_sort | energy optimized consensus formation control for the time delayed bilateral teleoperation system of uavs |
| url | http://dx.doi.org/10.1155/2018/2857674 |
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