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Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
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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 -