%0 Journal Article
	%A Sufian Ashraf Mazhari and  Surendra Kumar
	%D 2008
	%J International Journal of Electrical and Information Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 21, 2008
	%T Heuristic Search Algorithms for Tuning PUMA 560 Fuzzy PID Controller
	%U https://publications.waset.org/pdf/2437
	%V 21
	%X 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.
	%P 2024 - 2033