Abstract
The work presented here shows the results of a simulation made on a two-degree-of-freedom plant (robot joint) driven by an ideal model. The reference input is applied only to the model, and control effort on the plant is generated by observ ing the deviations of its states from the ideal norms issued by the model. The model thus constrains the plant to follow it. The design of this system is based primarily on the construction of the model, which should have the same essential features but without the variable parameters found in the plant in question. It has been shown that satisfactory following of the model is possible with this approach, even under wide variations in the plant inertia (i.e., positive and negative rates of variation, as well as fluctuations in the load). The performance robustness of this arrangement is remarkable, and its implementation is not complex.
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