Control of a Robot Manipulator using Model Following Control

Abstract

In this work the simulation results of a 2 degree of freedom plant driven by model are shown. Here Model following control (MFC) system is applied to operate the plant in a better way. Initially a model is constructed, whose states are ideal with respect to the control parameters. The plant and the model essentially have same physical parameters. An input is given to the model and the plant is run by the errors, computed by comparing the states of the plant and model. In this way the plant is forced to follow the ideal states of the model. The results show that the plant is able to follow the model very accurately. The robust control observed in the scheme can be easily implemented for better performance of industrial robots.