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

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.