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

• Published in: Discover applied sciences Vol. 7; no. 7
• Main Author: Liu, Li-ye
• Format: Journal Article
• Language: English
• Published: Cham Springer International Publishing 01.07.2025
• Subjects: Applied and Technical Physics; Chemistry/Food Science; Earth Sciences; Engineering; Environment; Materials Science; Tradeoff tuning; Sensitivity function; Cloud robot arm; Time delay; Internal model control
• ISSN: 3004-9261
• DOI: 10.1007/s42452-025-06946-x

A framework for addressing the issue of long delay time is established for the control system of the Cloud Robot Arm (CRA). To facilitate dynamic process analysis and controller design for the CRA control system, each joint of the robot arm is treated as an independent system, considering the impact of the time delay of the cloud networking. Subsequently, a controller design method based on Internal Model Control -Proportional Integral Derivative (IMC-PID) is proposed, utilizing a trade-off tuning approach between robustness and performance to handle the load torque disturbances in the CRA control system, guaranteeing the dynamic performance. The simulation results demonstrate the effectiveness of the proposed method. Article Highlights A novel controller design method based on robustness and performance tradeoff tuning is proposed to deal with the issue of the long delay time and the load torque disturbance for the CRA control system. Analyzed factors affecting CRA control system and evaluated IMC-PID performance. Proposed tradeoff tuning method between the robustness/performance, achieving high disturbance rejection ability with experimental results and excellent accuracy.