The proton-neutron relativistic quasiparticle random-phase approximation (PN-RQRPA) is formulated in the canonical single-nucleon basis of the relativistic Hartree-Bogoliubov model, for an effective Lagrangian characterized by density-dependent meson-nucleon couplings. The model includes both the T=1 and T=0 pairing channels. Pair configurations formed from the fully or partially occupied states of positive energy in the Fermi sea, and the empty negative-energy states from the Dirac sea, are included in PN-RQRPA configuration space. The model is applied to the analysis of charge-exchange modes: isobaric analog resonances and Gamow-Teller resonances.