Comparative Study of Some New Hybrid Fuzzy Algorithms for Manipulator Control

Mohan, Sudeept; Bhanot, Surekha

doi:https://doi.org/10.1155/2007/75653

Journal of Control Science and Engineering

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Research Article | Open Access

Volume 2007 | Article ID 075653 | https://doi.org/10.1155/2007/75653

Comparative Study of Some New Hybrid Fuzzy Algorithms for Manipulator Control

Sudeept Mohan¹and Surekha Bhanot²

Academic Editor: Guanrong Chen

Received23 Dec 2006

Revised03 Mar 2007

Accepted12 Apr 2007

Published07 Jun 2007

Abstract

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.

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Copyright

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.

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