Modeling and Networked Control of Two-rigid link Robot Arm
Abstract
-A networked control system (NCS) is one in which controller(s), actuator(s),and sensor(s)exchange
command signals and data through a limited-bandwidth communication network that may be used by other
applications, devices, and control systems. Compared to classical wired controlled systems, NCSs possess many
advantages. In this paper, we propose the modeling and networked control of two-rigid link robot arm. To deal
with the time delays that may occur during communication between the components of the system through the
network, a model of the system was first determined, and second, PID controllers were designed based on the
obtained model and using the stability region boundary locus technique. To demonstrate the validity of the
proposed approach, numerical simulations were conducted using TrueTime, Simscape, SimMechanics, and
Simulink with the MATLAB environment.