Teleoperation of ground/aerial vehicle extends operator's ability (e.g. expertise, strength, mobility) into the remote environment, and haptic feedback enhances the human operator's perception of the slave environment. In my thesis, two cases are studied: wheeled mobile robot (MWR) haptic tele-driving over the Internet and unmanned aerial vehicle (UAV) haptic teleoperation over the Internet. We propose novel control frameworks for both dynamic WMR and kinematic WMR in various tele-driving modes, and for a "mixed" UAV with translational dynamics and attitude kinematics. The recently proposed passive set-position modulation (PSPM) framework is extended to guarantee the passivity and/or stability of the closed-loop system with time-varying/packet-loss in the communication; and proved performance in steady state is shown by theoretical measurements.For UAV teleoperation, we also derive a backstepping trajectory tracking control with robustness analysis. Experimental results for dynamic/kinematic WMR and an indoor quadrotor-type UAV are presented to show the efficacy of the proposed control framework.
| Identifer | oai:union.ndltd.org:UTENN/oai:trace.tennessee.edu:utk_gradthes-2064 |
| Date | 01 August 2011 |
| Creators | Zuo, Zhiyuan |
| Publisher | Trace: Tennessee Research and Creative Exchange |
| Source Sets | University of Tennessee Libraries |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | Masters Theses |
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