Search results for: Automatic Generation Control.

Authors: Alexandre Boum, Salomon Madinatou

Abstract:

This paper aims at bringing a scientific contribution to the cardiac arrhythmia biomedical diagnosis systems; more precisely to the study of the amelioration of cardiac arrhythmia classification performance using artificial neural network, adaptive neuro-fuzzy and fuzzy inference systems classifiers. The purpose of this amelioration is to enable cardiologists to make reliable diagnosis through automatic cardiac arrhythmia analyzes and classifications based on high confidence classifiers. In this study, six classes of the most commonly encountered arrhythmias are considered: the Right Bundle Branch Block, the Left Bundle Branch Block, the Ventricular Extrasystole, the Auricular Extrasystole, the Atrial Fibrillation and the Normal Cardiac rate beat. From the electrocardiogram (ECG) extracted parameters, we constructed a matrix (360x360) serving as an input data sample for the classifiers based on neural networks and a matrix (1x6) for the classifier based on fuzzy logic. By varying three parameters (the quality of the neural network learning, the data size and the quality of the input parameters) the automatic classification permitted us to obtain the following performances: in terms of correct classification rate, 83.6% was obtained using the fuzzy logic based classifier, 99.7% using the neural network based classifier and 99.8% for the adaptive neuro-fuzzy based classifier. These results are based on signals containing at least 360 cardiac cycles. Based on the comparative analysis of the aforementioned three arrhythmia classifiers, the classifiers based on neural networks exhibit a better performance.

Keywords: Adaptive neuro-fuzzy, artificial neural network, cardiac arrythmias, fuzzy inference systems.

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Authors: Jia-Ru Li, Chih-Hung Wang, Ching-Wen Lin

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Internet addiction has become a critical problem on adolescents in Taiwan, and its negative effects on various dimensions of adolescent development caught the attention of educational and psychological experts. This study examined the correlation between cognitive (locus of control) and emotion (emotion venting strategies) factors on internet addiction of adolescents in Taiwan. Using the Compulsive Internet Use (CIU) and the Emotion Venting Strategy scales, a survey was conducted and 215 effective samples (students ranging from12 to14 years old) returned. Quantitative analysis methods such as descriptive statistics, t-test, ANOVA, Pearson correlations and multiple regression were adopted. The results were as follows: 1. Severity of Internet addiction has significant gender differences; boys were at a higher risk than girls in becoming addicted to the Internet. 2. Emotion venting, locus of control and internet addiction have been shown to be positive correlated with one another. 3. Setting the locus of control as the control variable, emotion venting strategy has positive and significant contribution to internet addiction. The results of this study suggest that coaching deconstructive emotion strategies and cognitive believes are encouraged to integrate with actual field work.

Keywords: Emotion venting strategy, locus of control, adolescent internet addiction.

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Authors: Aras Adhami Mirhoseini, Mohammad J. Yazdanpanah

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In this paper, we consider nested sliding mode control of SISO nonlinear systems, perturbed by bounded matched and unmatched uncertainties. The systems are assumed to be in strict-feedback form. A step wise procedure is introduced to obtain the controller. In each step, a continuous sliding mode controller is designed as virtual control law. Then the next step sliding surface is defined by using this virtual controller. These sliding surfaces are selected as nonlinear static functions of the system states. Finally in the last step, smooth static state feedback control law is determined such that the output reaches the desired set-point while the system is forced arbitrary close to the intersection of sliding surfaces and the states remain bounded.

Keywords: Sliding mode control, Strict-feedback form, Unmatched uncertainty, output regulation.

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Authors: P. Subha Karuvelam, M. Rajaram

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Brushless DC motors (BLDC) are widely used in industrial areas. The BLDC motors are driven either by indirect ACAC converters or by direct AC-AC converters. Direct AC-AC converters i.e. matrix converters are used in this paper to drive the three phase BLDC motor and it eliminates the bulky DC link energy storage element. A matrix converter converts the AC power supply to an AC voltage of variable amplitude and variable frequency. A control technique is designed to generate the switching pulses for the three phase matrix converter. For the control of speed of the BLDC motor a separate PI controller and Fuzzy Logic Controller (FLC) are designed and a hysteresis current controller is also designed for the control of motor torque. The control schemes are designed and tested separately. The simulation results of both the schemes are compared and contrasted in this paper. The results show that the fuzzy logic control scheme outperforms the PI control scheme in terms of dynamic performance of the BLDC motor. Simulation results are validated with the experimental results.

Keywords: Fuzzy logic controller, matrix converter, permanent magnet brushless DC motor, PI controller.

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Authors: Babar S. Kawish, Baber Aslam, Shoab A Khan

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In this paper we show that adjusting ART in accordance with static network scenario can substantially improve the performance of AODV by reducing control overheads. We explain the relationship of control overheads with network size and request patterns of the users. Through simulation we show that making ART proportionate to network static time reduces the amount of control overheads independent of network size and user request patterns.

Keywords: AODV, ART, MANET, Route Cache, TTL.

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Authors: Chutima Prommak, Airisa Jantaweetip

Abstract:

This paper presents a hybrid association control scheme that can maintain load balancing among access points in the wireless LANs and can satisfy the quality of service requirements of the multimedia traffic applications. The proposed model is mathematically described as a linear programming model. Simulation study and analysis were conducted in order to demonstrate the performance of the proposed hybrid load balancing and association control scheme. Simulation results shows that the proposed scheme outperforms the other schemes in term of the percentage of blocking and the quality of the data transfer rate providing to the multimedia and real-time applications.

Keywords: Association control, Load balancing, Wireless LANs

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Authors: S. Sonkham, U. Pinsopon, W. Chatlatanagulchai

Abstract:

This paper presents a method of sliding mode control (SMC) designing and developing for the servo system in a dual-stage actuator (DSA) hard disk drive. Mathematical modeling of hard disk drive actuators is obtained, extracted from measuring frequency response of the voice-coil motor (VCM) and PZT micro-actuator separately. Matlab software tools are used for mathematical model estimation and also for controller design and simulation. A model-reference approach for tracking requirement is selected as a proposed technique. The simulation results show that performance of a model-reference SMC controller design in DSA servo control can be satisfied in the tracking error, as well as keeping the positioning of the head within the boundary of +/-5% of track width under the presence of internal and external disturbance. The overall results of model-reference SMC design in DSA are met per requirement specifications and significant reduction in %off track is found when compared to the single-state actuator (SSA).

Keywords: Hard Disk Drive, Dual-Stage Actuator, Track Following, HDD Servo Control, Sliding Mode Control, Model-Reference, Tracking Control.

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Authors: B. G. Sampath, K. C. R. Perera, W. A. S. I. Wijesuriya, V. P. C. Dassanayake

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In this paper the design, development and testing of a stabilizer control system for a Quad-rotor is presented which is focused on the maneuverability. The mechanical design is performed along with the design of the controlling algorithm which is devised using fuzzy logic controller. The inputs for the system are the angular positions and angular rates of the Quad-rotor relative to three axes. Then the output data is filtered from an accelerometer and a gyroscope through a Kalman filter. In the development of the stability controlling system Mandani fuzzy model is incorporated. The results prove that the fuzzy based stabilizer control system is superior in high dynamic disturbances compared to the traditional systems which use PID integrated stabilizer control systems.

Keywords: Fuzzy stabilizer, maneuverability, PID, Quad-rotor.

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Authors: Yelena Chaiko

Abstract:

This paper presents a developed method for controlling multi-renewable energy generators. The control system depends basically on three sensors (wind anemometer, solar sensor, and voltage sensor). These sensors represent PLC-s analogue inputs. Controlling the output voltage supply can be achieved by an enhanced method of interlocking between the renewable energy generators, depending on those sensors and output contactors.

Keywords: Renewable, energy, control, model, generator.

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Authors: M. Tahar Bouzaher

Abstract:

This study involves a numerical simulation of the flow around a NACA2415 airfoil, with a 15°angle of attack, and flow separation control using a rod, It reposes inputting a cylindrical rod upstream of the leading edge in order to accelerate the transition of the boundary layer by interaction between the rod wake and the boundary layer. The viscous, non-stationary flow is simulated using ANSYS FLUENT 13. Our results showed a substantial modification in the flow behavior and a maximum drag reduction of 51%.

Keywords: CFD, Flow separation, Active control, Boundary layer, rod, NACA 2415.

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Authors: P. Suryakumari, P. Kantarao

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Optimal Power Flow (OPF) problem in electrical power system is considered as a static, non-linear, multi-objective or a single objective optimization problem. This paper presents an algorithm for solving the voltage stability objective reactive power dispatch problem in a power system .The proposed approach employs cat swarm optimization algorithm for optimal settings of RPD control variables. Generator terminal voltages, reactive power generation of the capacitor banks and tap changing transformer setting are taken as the optimization variables. CSO algorithm is tested on standard IEEE 30 bus system and the results are compared with other methods to prove the effectiveness of the new algorithm. As a result, the proposed method is the best for solving optimal reactive power dispatch problem.

Keywords: RPD problem, voltage stability enhancement, CSO algorithm.

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Authors: Tony Austin, Shanghua Sun, Nathan Lea, Steve Iliffe, Dipak Kalra, David Ingram, David Patterson

Abstract:

Computer-based decision support (CDSS) systems can deliver real patient care and increase chances of long-term survival in areas of chronic disease management prone to poor control. One such CDSS, for the management of warfarin, is described in this paper and the outcomes shown. Data is derived from the running system and show a performance consistently around 20% better than the applicable guidelines.

Keywords: "Decision Support", "Anticoagulant Control"

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Authors: Mihaela Popescu, Alexandru Bitoleanu, Mircea Dobriceanu, Vlad Suru

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The aim of this paper is to identify an optimum control strategy of three-phase shunt active filters to minimize the total harmonic distortion factor of the supply current. A classical PIPI cascade control solution of the output current of the active filterand the voltage across the DC capacitor based on Modulus–Optimum criterion is taken into consideration. The control system operation has been simulated using Matlab-Simulink environment and the results agree with the theoretical expectation. It is shown that there is an optimum value of the DC-bus voltage which minimizes the supply current harmonic distortion factor. It corresponds to the equality of the apparent power at the output of the active filter and the apparent power across the capacitor. Finally, predicted results are verified experimentally on a MaxSine active power filter.

Keywords: Active filtering, Controller tuning, Modulus Optimum criterion, Optimum control.

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Authors: Mansi Dhuria, Aalok Misra

Abstract:

In the context of large volume Big Divisor (nearly) SLagy D3/D7 μ-Split SUSY [1], after an explicit identification of first generation of SM leptons and quarks with fermionic superpartners of four Wilson line moduli, we discuss the identification of gravitino as a potential dark matter candidate by explicitly calculating the decay life times of gravitino (LSP) to be greater than age of universe and lifetimes of decays of the co-NLSPs (the first generation squark/slepton and a neutralino) to the LSP (the gravitino) to be very small to respect BBN constraints. Interested in non-thermal production mechanism of gravitino, we evaluate the relic abundance of gravitino LSP in terms of that of the co-NLSP-s by evaluating their (co-)annihilation cross sections and hence show that the former satisfies the requirement for a potential Dark Matter candidate. We also show that it is possible to obtain a 125 GeV light Higgs in our setup.

Keywords: Split Supersymmetry, Large Volume Swiss-Cheese Calabi-Yau's, Dark Matter, (N)LSP decays, relic abundance.

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Authors: К. R. Aida–Zade, C. Ardil, S. S. Rustamov

Abstract:

Statement of the automatic speech recognition problem, the assignment of speech recognition and the application fields are shown in the paper. At the same time as Azerbaijan speech, the establishment principles of speech recognition system and the problems arising in the system are investigated. The computing algorithms of speech features, being the main part of speech recognition system, are analyzed. From this point of view, the determination algorithms of Mel Frequency Cepstral Coefficients (MFCC) and Linear Predictive Coding (LPC) coefficients expressing the basic speech features are developed. Combined use of cepstrals of MFCC and LPC in speech recognition system is suggested to improve the reliability of speech recognition system. To this end, the recognition system is divided into MFCC and LPC-based recognition subsystems. The training and recognition processes are realized in both subsystems separately, and recognition system gets the decision being the same results of each subsystems. This results in decrease of error rate during recognition. The training and recognition processes are realized by artificial neural networks in the automatic speech recognition system. The neural networks are trained by the conjugate gradient method. In the paper the problems observed by the number of speech features at training the neural networks of MFCC and LPC-based speech recognition subsystems are investigated. The variety of results of neural networks trained from different initial points in training process is analyzed. Methodology of combined use of neural networks trained from different initial points in speech recognition system is suggested to improve the reliability of recognition system and increase the recognition quality, and obtained practical results are shown.

Keywords: Speech recognition, cepstral analysis, Voice activation detection algorithm, Mel Frequency Cepstral Coefficients, features of speech, Cepstral Mean Subtraction, neural networks, Linear Predictive Coding.

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Authors: Dae Gon Woo, Ji Hyung Park, Chi Hoon Kim, Tae Woo Lee, Beob Yi Lee, Han Sung Kim

Abstract:

The aim of the present study is to analyze the generation of osteoporotic vertebral bone induced by lack of calcium during growth period and analyze its effects for disc degeneration, based on biomechanical and histomorphometrical study. Mechanical and histomorphological characteristics of lumbar vertebral bones and discs of rats with calcium free diet (CFD) were detected and tracked by using high resolution in-vivo micro-computed tomography (in-vivo micro-CT), finite element (FE) and histological analysis. Twenty female Sprague-Dawley rats (6 weeks old, approximate weight 170g) were randomly divided into two groups (CFD group: 10, NOR group: 10). The CFD group was maintained on a refmed calcium-controlled semisynthetic diet without added calcium, to induce osteoporosis. All lumbar (L 1-L6) were scanned by using in vivo micro-CT with 35i.un resolution at 0, 4, 8 weeks to track the effects of CFD on the generation of osteoporosis. The fmdings of the present study indicated that calcium insufficiency was the main factor in the generation of osteoporosis and it induced lumbar vertebral disc degeneration. This study is a valuable experiment to firstly evaluate osteoporotic vertebral bone and disc degeneration induced by lack of calcium during growth period from a biomechanical and histomorphometrical point of view.

Keywords: Calcium free diet, Disc degeneration, Osteoporosis, in-vivo micro-CT, Finite element analysis, Histology.

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Authors: Kruczek A., Stříbrský A., Honců J., Hlinovský M.

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Automotive suspension system is important part of car comfort and safety. In this article automotive active suspension with linear motor as actuator is designed using H-infinity control. This paper is focused on comparison of different controller designed for quart, half or full-car model (and always used for “full" car). Special attention is placed on energy demand of the whole system. Each controller configuration is simulated and then verified on the hydraulic quarter car test bed.

Keywords: active suspension, linear motor, robust control

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Authors: M. Beisenbi, A. Sagymbay, S. Beisembina, A. Satpayeva

Abstract:

In this paper, the problem of unstable and deterministic chaotic processes in control systems is considered. The synthesis of a control system in the class of two-parameter structurally stable mappings is demonstrated. This is realized via the gradient-velocity method of Lyapunov vector functions. It is shown that the gradient-velocity method of Lyapunov vector functions allows generating an aperiodic robust stable system with the desired characteristics. A simple solution to the problem of synthesis of control systems for unstable and deterministic chaotic processes is obtained. Moreover, it is applicable for complex systems.

Keywords: Control system synthesis, deterministic chaotic processes, Lyapunov vector function, robust stability, structurally stable mappings.

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Authors: Tai-Yue Wang, Hui-Min Chiang, Su-Ni Hsieh, Yu-Min Chiang

Abstract:

In many industries, control charts is one of the most frequently used tools for quality management. Hotelling-s T2 is used widely in multivariate control chart. However, it has little defect when detecting small or medium process shifts. The use of supplementary sensitizing rules can improve the performance of detection. This study applied sensitizing rules for Hotelling-s T2 control chart to improve the performance of detection. Support vector machines (SVM) classifier to identify the characteristic or group of characteristics that are responsible for the signal and to classify the magnitude of the mean shifts. The experimental results demonstrate that the support vector machines (SVM) classifier can effectively identify the characteristic or group of characteristics that caused the process mean shifts and the magnitude of the shifts.

Keywords: Hotelling's T2 control chart, Neural networks, Sensitizing rules, Support vector machines.

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Authors: Shonal Singh, Bibhya Sharma, Jito Vanualailai, Avinesh Prasad

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This paper considers the autonomous navigation problem of multiple n-link nonholonomic mobile manipulators within an obstacle-ridden environment. We present a set of nonlinear acceleration controllers, derived from the Lyapunov-based control scheme, which generates collision-free trajectories of the mobile manipulators from initial configurations to final configurations in a constrained environment cluttered with stationary solid objects of different shapes and sizes. We demonstrate the efficiency of the control scheme and the resulting acceleration controllers of the mobile manipulators with results through computer simulations of an interesting scenario.

Keywords: Artificial potential fields, kinodynamic constraints, Lyapunov-based control scheme, Lyapunov stability, minimum distance technique, nonholonomic manipulator.

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Authors: Ahmed Aljudaya, Derek Ingham, Lin Ma, Kevin Hughes, Mohammed Pourkashanian

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Researchers, power companies, and state politicians have given concentrated solar power (CSP) much attention due to its capacity to generate large amounts of electricity whereas overcoming the intermittent nature of solar resources. The Linear Fresnel Reflector (LFR) is a well-known CSP technology type for being inexpensive, having a low land use factor, and suffering from low optical efficiency. The LFR was considered a cost-effective alternative option to the Parabolic Trough Collector (PTC) because of its simplistic design, and this often outweighs its lower efficiency. The LFR power plants commercially generate steam directly and indirectly in order to produce electricity with high technical efficiency and lower its costs. The purpose of this important analysis is to compare the annual performance of the Direct Steam Generation (DSG) and Indirect Steam Generation (ISG) of LFR power plants using molten salt and other different Heat Transfer Fluids (HTF) to investigate their technical and economic effects. A 50 MWe solar-only system is examined as a case study for both steam production methods in extreme weather conditions. In addition, a parametric analysis is carried out to determine the optimal solar field size that provides the lowest Levelized Cost of Electricity (LCOE) while achieving the highest technical performance. As a result of optimizing the optimum solar field size, the solar multiple (SM) is found to be between 1.2 – 1.5 in order to achieve as low as 9 Cent/KWh for the DSG of the LFR. In addition, the power plant is capable of producing around 141 GWh annually and up to 36% of the capacity factor, whereas the ISG produces less energy at a higher cost. The optimization results show that the DSG’s performance overcomes the ISG in producing around 3% more annual energy, 2% lower LCOE, and 28% less capital cost.

Keywords: Concentrated Solar Power, Levelized cost of electricity, Linear Fresnel reflectors, Steam generation.

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Authors: Wilfred Fritz

Abstract:

Grid connected solar PV inverters need to be compliant to standard regulations regarding unwanted harmonic generation. This paper gives an introduction to harmonics, solar PV inverter voltage regulation and balancing through compensation and investigates the behaviour of harmonic generation at different power levels. Practical measurements of harmonics and power levels with a power quality data logger were made, on a test network at a university in Germany. The test setup and test results are discussed. The major finding was that between the morning and afternoon load peak windows when the PV inverters operate under low solar insolation and low power levels, more unwanted harmonics are generated. This has a huge impact on the power quality of the grid as well as capital and maintenance costs. The design of a single-tuned harmonic filter towards harmonic mitigation is presented.

Keywords: Harmonics, power quality, pulse width modulation, total harmonic distortion.

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Authors: Rahib Hidayat Abiyev

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This paper presents the development of recurrent neural network based fuzzy inference system for identification and control of dynamic nonlinear plant. The structure and algorithms of fuzzy system based on recurrent neural network are described. To train unknown parameters of the system the supervised learning algorithm is used. As a result of learning, the rules of neuro-fuzzy system are formed. The neuro-fuzzy system is used for the identification and control of nonlinear dynamic plant. The simulation results of identification and control systems based on recurrent neuro-fuzzy network are compared with the simulation results of other neural systems. It is found that the recurrent neuro-fuzzy based system has better performance than the others.

Keywords: Fuzzy logic, neural network, neuro-fuzzy system, control system.

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Authors: Igor Astrov, Andrus Pedai, Boris Gordon

Abstract:

This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for an unmanned helicopter model with coaxial rotor and ducted fan configuration. This control strategy for chosen model of TUAV has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast stabilization of engines in hovering, consequently, fast SA with economy in energy can be asserted during search-and-rescue operations.

Keywords: Coaxial rotors, ducted fan, NARMA-L2 neurocontroller, situational awareness, tactical unmanned aerial vehicle.

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Authors: Santosh Kr. Choudhary

Abstract:

In this paper, fractional order feedback control of a ball beam model is investigated. The ball beam model is a particular example of the double Integrator system having strongly nonlinear characteristics and unstable dynamics which make the control of such system a challenging task. Most of the work in fractional order control systems are in theoretical nature and controller design and its implementation in practice is very small. In this work, a successful attempt has been made to design a fractional order PIλDμcontroller for a benchmark laboratory ball and beam model. Better performance can be achieved using a fractional order PID controller and it is demonstrated through simulations results with a comparison to the classic PID controller.

Keywords: Fractional order calculus, fractional order controller, fractional order system, ball and beam system, PIλDμ controller, modelling, simulation.

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Authors: Dong Ming, Chen Haipeng

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POS (also been called DGPS/IMU) technique can obtain the Exterior Orientation Elements of aerial photo, so the triangulation and DLG production using POS can save large numbers of ground control points (GCP), and this will improve the produce efficiency of DLG and reduce the cost of collecting GCP. This paper mainly research on POS technique in production of 1:10 000 scale DLG on GCP distribution. We designed 23 kinds of ground control points distribution schemes, using integrated sensor direction method to do the triangulation experiments, based on the results of triangulation, we produce a map with the scale of 1:10 000 and test its accuracy. This paper put forward appropriate GCP distributing schemes by experiments and research above, and made preparations for the application of POS technique on photogrammetry 4D data production.

Keywords: POS, IMU, DGPS, DLG, ground control point, triangulation

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Authors: R. R. Chen, K. Khorasani

Abstract:

In this paper, a robust decentralized congestion control strategy is developed for a large scale network with Differentiated Services (Diff-Serv) traffic. The network is modeled by a nonlinear fluid flow model corresponding to two classes of traffic, namely the premium traffic and the ordinary traffic. The proposed congestion controller does take into account the associated physical network resource limitations and is shown to be robust to the unknown and time-varying delays. Our proposed decentralized congestion control strategy is developed on the basis of Diff-Serv architecture by utilizing a robust adaptive technique. A Linear Matrix Inequality (LMI) condition is obtained to guarantee the ultimate boundedness of the closed-loop system. Numerical simulation implementations are presented by utilizing the QualNet and Matlab software tools to illustrate the effectiveness and capabilities of our proposed decentralized congestion control strategy.

Keywords: Congestion control, Large scale networks, Decentralized control, Differentiated services traffic, Time-delay systems.

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Authors: Jeong Hyun Kim, Gyo Woo Lee

Abstract:

In this study, heat release performances of the three extruded-type heat sinks can be used in inverter for solar power generation were evaluated. Numbers of fins in the heat sinks (namely E-38, E-47 and E-76) were 38, 47 and 76, respectively. Heat transfer areas of them were 1.8, 1.9 and 2.8m². The heat release performances of E-38, E-47 and E-76 heat sinks were measured as 79.6, 81.6 and 83.2%, respectively. The results of heat release performance show that the larger amount of heat transfer area the higher heat release rate. While on the other, in this experiment, variations of mass flow rates caused by different cross sectional areas of the three heat sinks may not be the major parameter of the heat release. Despite the 47.4% increment of heat transfer area of E-76 heat sink than that of E-47 one, its heat release rate was higher by only 2.0%; this suggests that its heat transfer area need to be optimized.

Keywords: Solar Inverter, Heat Sink, Forced Convection, Heat Transfer, Performance Evaluation.

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Authors: Attitude Stabilization of Satellites Using Random Dither Quantization

Abstract:

Recently, the effectiveness of random dither quantization method for linear feedback control systems has been shown in several papers. However, the random dither quantization method has not yet been applied to nonlinear feedback control systems. The objective of this paper is to verify the effectiveness of random dither quantization method for nonlinear feedback control systems. For this purpose, we consider the attitude stabilization problem of satellites using discrete-level actuators. Namely, this paper provides a control method based on the random dither quantization method for stabilizing the attitude of satellites using discrete-level actuators.

Keywords: Quantized control, nonlinear systems, random dither quantization.

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Authors: Sudeept Mohan, Surekha Bhanot

Abstract:

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.

Keywords: Hybrid fuzzy, Self-organizing, Self-tuning, Trajectory tracking.

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