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Unknown and time-varying time delays in the modelling and control of hydraulic actuators: literature review

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paperpeer-review

Published
Publication date21/01/2021
Host publication2020 Australian and New Zealand Control Conference (ANZCC)
PublisherIEEE
Number of pages6
ISBN (electronic)9781728199924
ISBN (print)9781728199931
<mark>Original language</mark>English
Event4th Australian and New Zealand Control Conference - Gold Coast, Australia
Duration: 26/11/202027/11/2020

Conference

Conference4th Australian and New Zealand Control Conference
Abbreviated titleANZCC
Country/TerritoryAustralia
Period26/11/2027/11/20

Conference

Conference4th Australian and New Zealand Control Conference
Abbreviated titleANZCC
Country/TerritoryAustralia
Period26/11/2027/11/20

Abstract

Uncertain time-delays can reduce the performance of hydraulic manipulator control systems. Variations in the time delay between, for example, an applied voltage and the associated manipulator movement, may be caused by the internal dynamics of the system and other nonlinear characteristics, such as fluid compressibility, dead-band of the pump, valve flow properties and friction characteristics. Robot control that addresses system time-delays, nonlinearities and uncertainty is the subject of much research but, whilst the specific concept of varying time delays in hydraulic systems is sometimes acknowledged, it appears to be less widely investigated than other types of uncertainty. The present article discuses some of the issues involved, exemplified by a dual manipulator device used in the laboratory for research into nuclear decommissioning, and presents a review of the relevant control literature in this area.