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

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...