Design of a joint control system for serial mechanical arms based on PID and MRAC control

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.