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.


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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