%0 Journal Article
	%A Sudeept Mohan and  Surekha Bhanot
	%D 2007
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 12, 2007
	%T Comparative Study of Some Adaptive Fuzzy Algorithms for Manipulator Control
	%U https://publications.waset.org/pdf/6068
	%V 12
	%X The problem of manipulator control is a highly
complex problem of controlling a system which is multi-input, multioutput,
non-linear and time variant. In this paper some adaptive
fuzzy, and a new hybrid fuzzy control algorithm have been
comparatively evaluated through simulations, for manipulator
control. The adaptive fuzzy controllers consist of self-organizing,
self-tuning, and coarse/fine adaptive fuzzy schemes. These
controllers are tested for different trajectories and for varying
manipulator parameters through simulations. Various performance
indices like the RMS error, steady state error and maximum error are
used for comparison. It is observed that the self-organizing fuzzy
controller gives the best performance. The proposed hybrid fuzzy
plus integral error controller also performs remarkably well, given its
simple structure.
	%P 3898 - 3906