Comparative Study of Some New Hybrid Fuzzy Algorithms for Manipulator Control

Author:

Mohan Sudeept,Bhanot Surekha

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.

Publisher

Hindawi Limited

Subject

Electrical and Electronic Engineering,Computer Science Applications,Modeling and Simulation

Cited by 4 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Design of PID, FLC and Sliding Mode Controller for 2-DOF Robotic Manipulator: A Comparative Study;International Journal of Mathematical, Engineering and Management Sciences;2023-02-01

2. Manipulator Dynamic Nonlinearity Approximation Based on Polytopic LPV Modeling for Robot Tracking Control Problem;Iranian Journal of Science and Technology, Transactions of Electrical Engineering;2022-01-16

3. Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems;International Journal of Advanced Robotic Systems;2018-09-01

4. Computed-torque plus robust adaptive compensation control for robot manipulator with structured and unstructured uncertainties;IMA Journal of Mathematical Control and Information;2014-07-04

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