Synthesis design and analysis of a hybrid controller for robotic arms

Dan Zhang; Bin Wei

doi:10.1115/DETC2016-59658

Synthesis design and analysis of a hybrid controller for robotic arms

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

Abstract

In this paper, a hybrid controller for robotic arms is proposed and designed by combining a proportional-integralderivative controller (PID) and a model reference adaptive controller (MRAC) in order to further improve the accuracy and joint convergence speed performance. The convergence performance of the PID controller, the model reference adaptive controller and the PID+MRAC hybrid controller for 1-DOF and 2-DOF manipulators are compared. The comparison results show that the convergence speed and its performance for the MRAC and the PID+MRAC controllers are better than that of the PID controller, and the convergence performance for the hybrid control is better than that of the MRAC control.

Original language	English
Title of host publication	40th Mechanisms and Robotics Conference
Publisher	American Society of Mechanical Engineers(ASME)
ISBN (Electronic)	9780791850152
DOIs	https://doi.org/10.1115/DETC2016-59658
Publication status	Published - 2016
Externally published	Yes
Event	ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States Duration: 21 Aug 2016 → 24 Aug 2016

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	5A-2016

Conference

Conference	ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
Country/Territory	United States
City	Charlotte
Period	21/08/16 → 24/08/16

ASJC Scopus subject areas

Mechanical Engineering
Computer Graphics and Computer-Aided Design
Computer Science Applications
Modelling and Simulation

More information

10.1115/DETC2016-59658

Cite this

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title = "Synthesis design and analysis of a hybrid controller for robotic arms",

abstract = "In this paper, a hybrid controller for robotic arms is proposed and designed by combining a proportional-integralderivative controller (PID) and a model reference adaptive controller (MRAC) in order to further improve the accuracy and joint convergence speed performance. The convergence performance of the PID controller, the model reference adaptive controller and the PID+MRAC hybrid controller for 1-DOF and 2-DOF manipulators are compared. The comparison results show that the convergence speed and its performance for the MRAC and the PID+MRAC controllers are better than that of the PID controller, and the convergence performance for the hybrid control is better than that of the MRAC control.",

author = "Dan Zhang and Bin Wei",

note = "Publisher Copyright: Copyright {\textcopyright} 2016 by ASME.; ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 ; Conference date: 21-08-2016 Through 24-08-2016",

year = "2016",

doi = "10.1115/DETC2016-59658",

language = "English",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers(ASME)",

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Zhang, D & Wei, B 2016, Synthesis design and analysis of a hybrid controller for robotic arms. in 40th Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 5A-2016, American Society of Mechanical Engineers(ASME), ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016, Charlotte, United States, 21/08/16. https://doi.org/10.1115/DETC2016-59658

Synthesis design and analysis of a hybrid controller for robotic arms. / Zhang, Dan; Wei, Bin.
40th Mechanisms and Robotics Conference. American Society of Mechanical Engineers(ASME), 2016. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5A-2016).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - In this paper, a hybrid controller for robotic arms is proposed and designed by combining a proportional-integralderivative controller (PID) and a model reference adaptive controller (MRAC) in order to further improve the accuracy and joint convergence speed performance. The convergence performance of the PID controller, the model reference adaptive controller and the PID+MRAC hybrid controller for 1-DOF and 2-DOF manipulators are compared. The comparison results show that the convergence speed and its performance for the MRAC and the PID+MRAC controllers are better than that of the PID controller, and the convergence performance for the hybrid control is better than that of the MRAC control.

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Synthesis design and analysis of a hybrid controller for robotic arms

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