Design, integration and analysis of a hybrid controller for multi degrees of freedom serial mechanisms

Dan Zhang; Bin Wei

doi:10.1201/9781315166056

Design, integration and analysis of a hybrid controller for multi degrees of freedom serial mechanisms

Dan Zhang
, Bin Wei

Research output: Chapter in book / Conference proceeding › Chapter in an edited book (as author) › Academic research › peer-review

Abstract

This paper proposes a hybrid controller by combining a PID controller and a model reference adaptive controller (MRAC), and also compares the convergence performance of the PID controller, model reference adaptive controller, and PID+MRAC hybrid controller. The results show that the convergence speed and its performance for the MRAC controller and PID+MRAC controller is better than that of the PID controller. The convergence performance for the hybrid control is better than that of the MRAC control.

Original language	English
Title of host publication	Adaptive Control for Robotic Manipulators
Publisher	CRC Press
Pages	159-171
Number of pages	13
ISBN (Electronic)	9781498764889
ISBN (Print)	9781498764872
DOIs	https://doi.org/10.1201/9781315166056
Publication status	Published - 1 Jan 2017
Externally published	Yes

Keywords

Convergence speed
Hybrid control
Model reference adaptive control
Pid control
Robotic arm

ASJC Scopus subject areas

General Engineering
General Computer Science

More information

10.1201/9781315166056

Cite this

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KW - Robotic arm

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Design, integration and analysis of a hybrid controller for multi degrees of freedom serial mechanisms

Abstract

Keywords

ASJC Scopus subject areas

More information

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