Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay

Table 1

Average values for time to complete the task (TCT) and mean square translational synchronization error (MSE) for different time delays.

Case	Time delays [s]	TCT [s]	[m/s]	[m/s]	[m/s]
1		77.86	3.93	1.4	0.13
2		80.69	6.86	1.98	0.15
	3						100.14	7.41	2.43	0.14
4			129.93	6.87	2.4	0.16