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Journal of Control Science and Engineering
Volume 2007, Article ID 75653, 10 pages
Research Article

Comparative Study of Some New Hybrid Fuzzy Algorithms for Manipulator Control

1Department of Computer Science and Information Systems, Birla Institute of Technology and Science, Rajasthan 333031, Pilani, India
2Department of Instrumentation, Birla Institute of Technology and Science, Rajasthan 333031, Pilani, India

Received 23 December 2006; Revised 3 March 2007; Accepted 12 April 2007

Academic Editor: Guanrong Chen

Copyright © 2007 Sudeept Mohan and Surekha Bhanot. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The robot manipulator is a highly complex system, which is multi-input, multi-output, nonlinear, and time variant. Controlling such a system is a tedious and challenging task. In this paper, some new hybrid fuzzy control algorithms have been proposed for manipulator control. These hybrid fuzzy controllers consist of two parts: a fuzzy controller and a conventional or adaptive controller. The outputs of these controllers are superimposed to produce the final actuation signal based on current position and velocity errors. Simulation is used to test these controllers for different trajectories and for varying manipulator parameters. Various performance indices like the RMS error, steady state error, and maximum error are used for comparison. It is observed that the hybrid controllers perform better than only fuzzy or only conventional/adaptive controllers.