A linear regression variable time delay estimation algorithm for the analysis of hydraulic manipulators

Albrecht, Olivia and Taylor, C. James (2022) A linear regression variable time delay estimation algorithm for the analysis of hydraulic manipulators. In: 13th UKACC International Conference on Control. IEEE. (In Press)

[img]
Text (ukacc_delay_220309_final)
ukacc_delay_220309_final.pdf - Accepted Version
Available under License Creative Commons Attribution-NonCommercial.

Download (561kB)

Abstract

An algorithm to investigate nonlinear systems with time delay variability is proposed. It automatically cycles through segments of an open loop experiment, capturing the directional change in the output via a pair of regression equations, and estimates the time delay accordingly. The method is a black-box, statistical approach that does not require a dynamic model nor any knowledge of the systematic causes of the time delay variability. It is designed for systems with approximately integrating behaviour, hence it is used in this article for the analysis of hydraulically actuated robotic manipulators with this characteristic and time-varying delays. In the context of control, the new algorithm provides insight into the variable time delay behaviour and hence can guide control design decisions e.g. by uncovering state dependencies.

Item Type:
Contribution in Book/Report/Proceedings
Additional Information:
©2022 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Subjects:
ID Code:
167596
Deposited By:
Deposited On:
12 May 2022 15:50
Refereed?:
Yes
Published?:
In Press
Last Modified:
12 May 2022 15:55