Design of internal model controller based on robustness/performance tradeoff tuning for robot arm with time delay

Abstract

A framework of dealing with the issue of the long delay time is established for the control system of the Cloud Robot Arm (CRA). To be convenient for the dynamic process analysis and the controller design of CRA control system, the each joint of the robot arm plant is regard as the independent system, considering the influence of the time delay of the cloud networking. Then, a controller design method of the Internal Model Control -Proportional Integral Derivative (IMC-PID) based on the tradeoff tuning method between the robustness/performance is proposed to handle the load toque disturbance for the CRA control system, guaranteeing the dynamic performance. The simulation results reflect the effectiveness of the proposed method.