{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T07:32:08Z","timestamp":1770276728122,"version":"3.49.0"},"reference-count":24,"publisher":"Cambridge University Press (CUP)","issue":"9","license":[{"start":{"date-parts":[[2016,8,15]],"date-time":"2016-08-15T00:00:00Z","timestamp":1471219200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2017,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>When the end-effector of a robotic arm grasps different payload masses, the output of joint motion will vary. By using a model reference adaptive control approach, the payload variation effect can be solved. This paper describes the design for a hybrid controller for serial robotic manipulators by combining a PID controller 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 MRAC and the PID+MRAC hybrid controller for 1-DOF, 2-DOF and subsequently 3-DOF manipulators is compared. The comparison results show that the convergence speed and its performance for the MRAC and the PID+ MRAC controllers is better than that of the PID controller, and the convergence performance for the hybrid control is better than that of the MRAC control.<\/jats:p>","DOI":"10.1017\/s0263574716000564","type":"journal-article","created":{"date-parts":[[2016,8,15]],"date-time":"2016-08-15T02:24:30Z","timestamp":1471227870000},"page":"1888-1905","source":"Crossref","is-referenced-by-count":10,"title":["Design, analysis and modelling of a hybrid controller for serial robotic manipulators"],"prefix":"10.1017","volume":"35","author":[{"given":"Dan","family":"Zhang","sequence":"first","affiliation":[]},{"given":"Bin","family":"Wei","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2016,8,15]]},"reference":[{"key":"S0263574716000564_ref13","first-page":"143","article-title":"Model reference adaptive control (MRAC) of robotic manipulators using a modified output error method (MOEM)","volume":"10","author":"Tam","journal-title":"Robot. 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P. Whitaker , J. Yamron and A. Kezer , \u201cDesign of Model Reference Adaptive Control Systems for Aircraft,\u201d (Massachusetts Institute of Technology, Instrumentation Laboratory: Jackson & Moreland, Cambridge, Massachusetts, 1958)."},{"key":"S0263574716000564_ref23","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig","year":"2005"},{"key":"S0263574716000564_ref7","volume-title":"Adaptive Control: The Model Reference Approach","author":"Landau","year":"1979"},{"key":"S0263574716000564_ref14","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007932701318"},{"key":"S0263574716000564_ref4","first-page":"409","volume-title":"IEEE International Conference on Mechatronics (ICM)","author":"Akyuz","year":"2011"},{"key":"S0263574716000564_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TAI.1963.5407840"},{"key":"S0263574716000564_ref10","first-page":"477","article-title":"Design of a model reference adaptive controller using modified MIT rule for a second order system","volume":"3","author":"Jain","year":"2013","journal-title":"Adv. Electron. Electric Eng."},{"key":"S0263574716000564_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2004.838558"},{"key":"S0263574716000564_ref20","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143754"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574716000564","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,16]],"date-time":"2019-04-16T19:53:15Z","timestamp":1555444395000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574716000564\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,8,15]]},"references-count":24,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2017,9]]}},"alternative-id":["S0263574716000564"],"URL":"https:\/\/doi.org\/10.1017\/s0263574716000564","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,8,15]]}}}