Bilateral Control of Propeller-Driven System influenced by Ground Effect

Abstract

Recently, a bilateral teleoperation system using an electric helicopter as a slave robot has been researched. Although conventional methods utilize a static controller, a non-negligible position/force tracking error is induced by the grand effect. A propeller's angular velocity - thrust force characteristics change depending on the distance between the helicopter and grand due to the grand effect. Therefore, this paper proposes a gain scheduling controller that changes the controller gain depending on the distance between the helicopter and grand. The validity of the proposed controller is verified by experiments.