Adaptive gain tuning for teleoperation of quadrotors

Since unmanned aerial vehicles (UAVs) were introduced, their teleoperation was and still is a challenging task. Significant research was conducted in order to facilitate and improve UAVs maneuverability, and yet many accidents are attributed to human error. Remote controls (RCs) are commonly used to control UAVs, but with their constant scale for inputs, RCs do not suit all users and require significant training. In this paper we are addressing this issue, where adaptive gain tuning is used to map the masters' inputs (RC inputs) to the slave (UAV) motions in order to enhance the pilot's performance regardless of the level of experience. Experimental results show a significant improvement when adaptive gain tuning is employed.