White Paper: Comparative Study of Some New Hybrid Fuzzy Algorithms for Manipulator Control

In this paper, an attempt has been made to do a comparative study of some hybrid fuzzy control schemes. We have tried to combine some well-established conventional and adaptive controllers with a lookup table-based fuzzy controller and have done a comparative analysis of their simulated performance. This paper follows a similar pattern as our earlier paper, where we compared some adaptive fuzzy algorithms used for manipulator control.

01/25/2011


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.

 

Click here to download the rest of the white paper.



No comments
The Engineers' Choice Awards highlight some of the best new control, instrumentation and automation products as chosen by...
The System Integrator Giants program lists the top 100 system integrators among companies listed in CFE Media's Global System Integrator Database.
The Engineering Leaders Under 40 program identifies and gives recognition to young engineers who...
This eGuide illustrates solutions, applications and benefits of machine vision systems.
Learn how to increase device reliability in harsh environments and decrease unplanned system downtime.
This eGuide contains a series of articles and videos that considers theoretical and practical; immediate needs and a look into the future.
Big Data and IIoT value; Monitoring Big Data; Robotics safety standards and programming; Learning about PID
Motor specification guidelines; Understanding multivariable control; Improving a safety instrumented system; 2017 Engineers' Choice Award Winners
Selecting the best controller from several viewpoints; System integrator advice for the IIoT; TSN and real-time Ethernet; Questions to ask when selecting a VFD; Action items for an aging PLC/DCS
This digital report will explore several aspects of how IIoT will transform manufacturing in the coming years.
Motion control advances and solutions can help with machine control, automated control on assembly lines, integration of robotics and automation, and machine safety.
This article collection contains several articles on the Industrial Internet of Things (IIoT) and how it is transforming manufacturing.

Find and connect with the most suitable service provider for your unique application. Start searching the Global System Integrator Database Now!

Future of oil and gas projects; Reservoir models; The importance of SCADA to oil and gas
Big Data and bigger solutions; Tablet technologies; SCADA developments
SCADA at the junction, Managing risk through maintenance, Moving at the speed of data
Automation Engineer; Wood Group
System Integrator; Cross Integrated Systems Group
Jose S. Vasquez, Jr.
Fire & Life Safety Engineer; Technip USA Inc.
click me