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

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Unknown and time-varying time delays in the modelling and control of hydraulic actuators : literature review. / Albrecht, Olivia; Taylor, C. James.

2020 Australian and New Zealand Control Conference (ANZCC). IEEE, 2021.

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

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Albrecht, O & Taylor, CJ 2021, Unknown and time-varying time delays in the modelling and control of hydraulic actuators: literature review. in 2020 Australian and New Zealand Control Conference (ANZCC). IEEE, 4th Australian and New Zealand Control Conference, Australia, 26/11/20. https://doi.org/10.1109/ANZCC50923.2020.9318375

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Albrecht, Olivia ; Taylor, C. James. / Unknown and time-varying time delays in the modelling and control of hydraulic actuators : literature review. 2020 Australian and New Zealand Control Conference (ANZCC). IEEE, 2021.

Bibtex

@inproceedings{28ff83cc76284bec84e9a9cf5becf9ac,
title = "Unknown and time-varying time delays in the modelling and control of hydraulic actuators: literature review",
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.",
keywords = "hydraulic manipulators, uncertain time delays, time varying delays, robot control systems, literature review",
author = "Olivia Albrecht and Taylor, {C. James}",
year = "2021",
month = jan,
day = "21",
doi = "10.1109/ANZCC50923.2020.9318375",
language = "English",
isbn = "9781728199931",
booktitle = "2020 Australian and New Zealand Control Conference (ANZCC)",
publisher = "IEEE",
note = "4th Australian and New Zealand Control Conference, ANZCC ; Conference date: 26-11-2020 Through 27-11-2020",

}

RIS

TY - GEN

T1 - Unknown and time-varying time delays in the modelling and control of hydraulic actuators

T2 - 4th Australian and New Zealand Control Conference

AU - Albrecht, Olivia

AU - Taylor, C. James

PY - 2021/1/21

Y1 - 2021/1/21

N2 - 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.

AB - 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.

KW - hydraulic manipulators

KW - uncertain time delays

KW - time varying delays

KW - robot control systems

KW - literature review

U2 - 10.1109/ANZCC50923.2020.9318375

DO - 10.1109/ANZCC50923.2020.9318375

M3 - Conference contribution/Paper

SN - 9781728199931

BT - 2020 Australian and New Zealand Control Conference (ANZCC)

PB - IEEE

Y2 - 26 November 2020 through 27 November 2020

ER -