@inproceedings{5e1354c106814dcaa3f886364da2fe04,
title = "Design of a joint control system for serial mechanical arms based on PID and MRAC control",
abstract = "A hybrid controller is proposed by combining the PID controller and model reference adaptive controller (MRAC), and the convergence performance of PID controller, model reference adaptive controller, and PID+MRAC hybrid controller are also compared. The results show that the convergence speed and performance for MRAC controller and PID+ MRAC controller is better than that of PID controller. Whereas for the MRAC controller and PID+ MRAC controller, the convergence performance for the hybrid control is better than that of MRAC control.",
keywords = "hybrid control, modelling, PID control, robotic mechanisms",
author = "Dan Zhang and Bin Wei",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016 ; Conference date: 20-07-2016 Through 22-07-2016",
year = "2016",
month = aug,
day = "29",
doi = "10.1109/ACIRS.2016.7556194",
language = "English",
series = "Proceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "91--96",
booktitle = "Proceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016",
}