@article{(Open Science Index):https://publications.waset.org/pdf/2437, title = {Heuristic Search Algorithms for Tuning PUMA 560 Fuzzy PID Controller}, author = {Sufian Ashraf Mazhari and Surendra Kumar}, country = {}, institution = {}, abstract = {This paper compares the heuristic Global Search Techniques; Genetic Algorithm, Particle Swarm Optimization, Simulated Annealing, Generalized Pattern Search, genetic algorithm hybridized with Nelder–Mead and Generalized pattern search technique for tuning of fuzzy PID controller for Puma 560. Since the actual control is in joint space ,inverse kinematics is used to generate various joint angles correspoding to desired cartesian space trajectory. Efficient dynamics and kinematics are modeled on Matlab which takes very less simulation time. Performances of all the tuning methods with and without disturbance are compared in terms of ITSE in joint space and ISE in cartesian space for spiral trajectory tracking. Genetic Algorithm hybridized with Generalized Pattern Search is showing best performance.}, journal = {International Journal of Electrical and Information Engineering}, volume = {2}, number = {9}, year = {2008}, pages = {2024 - 2033}, ee = {https://publications.waset.org/pdf/2437}, url = {https://publications.waset.org/vol/21}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 21, 2008}, }