DocumentCode :
2832191
Title :
Conventional and Intelligent Controllers for Robotic Manipulator
Author :
Naganna, G.E. ; Kumar, Surendra
Author_Institution :
Indian Inst. of Technol., Uttranchal
fYear :
2006
fDate :
15-17 Dec. 2006
Firstpage :
424
Lastpage :
428
Abstract :
The problem of manipulator control is highly complex problem of controlling a system which is multi-input, multi-output, and non-linear and time variant. A number of different approaches presently followed for the control of manipulator vary from PID to very complex, intelligent, self-learning control algorithms. This paper presents a comparative study of simulated performance of some conventional controllers, like the simple PID, Computed torque control, Feed forward inverse dynamic control and critically damped inverse dynamic control and some Intelligent controllers, like fuzzy control, neural control, and neuro-fuzzy control. IAE is used for comparison as performance index. The study concludes that the critically damped inverse dynamics controller in general performs better then rest of conventional controllers. A neuro-fuzzy controller performs better in intelligent controllers and also shows that intelligent controllers are better even when unmodeled terms are added to the model.
Keywords :
control system analysis; fuzzy control; intelligent control; manipulators; neurocontrollers; three-term control; torque control; PID control; feed forward inverse dynamic control; fuzzy control; intelligent controllers; multiinput multioutput system; neural control; neuro-fuzzy control; nonlinear system; robotic manipulator; self-learning control algorithms; time variant system; torque control; Competitive intelligence; Computational modeling; Control systems; Intelligent control; Intelligent robots; Manipulator dynamics; Nonlinear control systems; Robot control; Three-term control; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Technology, 2006. ICIT 2006. IEEE International Conference on
Conference_Location :
Mumbai
Print_ISBN :
1-4244-0726-5
Electronic_ISBN :
1-4244-0726-5
Type :
conf
DOI :
10.1109/ICIT.2006.372240
Filename :
4237562
Link To Document :
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