Energy-Optimized Consensus Formation Control for the Time-Delayed Bilateral Teleoperation System of UAVs

Figure 18

Velocities and force information. (a) The velocities in the x-axis. (b) The velocities in the y-axis. (c) The velocities in the z-axis. (d) The master/slave force.

(a)

(b)

(c)

(d)