Hybrid Control-based Model Reference Adaptive Control

The proposed switched controller is implemented and applied to the speed control of one-link arm robot with variation of moment inertia of arm. The experiment results show that the rotation speed of one-link robot’s arm is completely tracked to the desired output of reference model even the moment inertial of arm is varied. In the next section, the 1st order plant will be considered and their simulation results will be discussed. Ill. 11, bibl. 6 (in English, summaries in Lithuanian, English, Russian).

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