Scholarlink

<p>We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions (CBFs) to generate the control input that follows the user’s input as closely as possible while guaranteeing safety. In the context of stability of the human-in-the-loop system, we limit the force feedback perceived by the user via a small <InlineEquation ID="IEq1"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="10514_2024_10186_Article_IEq1.gif" Format="GIF" Height="16" Rendition="HTML" Resolution="72" Type="Linedraw" Width="19" /> </InlineMediaObject> <EquationSource Format="TEX">\(\mathcal {L}_2\)</EquationSource> <EquationSource Format="MATHML"><math> <msub> <mi mathvariant="script">L</mi> <mn>2</mn> </msub> </math></EquationSource> </InlineEquation>-gain, which is achieved by limiting the control and the force feedback via a differential constraint. Specifically, with the property of HSA, we propose two pathways to design the control and the force feedback: Sequential Control Force (SCF) and Joint Control Force (JCF). Both designs can achieve safety and stability but with different responses to the user’s commands. We conducted experimental simulations to evaluate and investigate the properties of the designed methods. We also tested the proposed method on a physical quadrotor UAV and a haptic interface.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Safe and stable teleoperation of quadrotor UAVs under haptic shared autonomy

  • 期刊论文

  • 发表日期：

    2025年1月17日

查看全文
  • Dawei Zhang,
  • Roberto Tron

摘要

We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions (CBFs) to generate the control input that follows the user’s input as closely as possible while guaranteeing safety. In the context of stability of the human-in-the-loop system, we limit the force feedback perceived by the user via a small \(\mathcal {L}_2\) L 2 -gain, which is achieved by limiting the control and the force feedback via a differential constraint. Specifically, with the property of HSA, we propose two pathways to design the control and the force feedback: Sequential Control Force (SCF) and Joint Control Force (JCF). Both designs can achieve safety and stability but with different responses to the user’s commands. We conducted experimental simulations to evaluate and investigate the properties of the designed methods. We also tested the proposed method on a physical quadrotor UAV and a haptic interface.