A simulational comparison of intelligent control algorithms on a direct drive manipulator

This paper investigates the control of nonlinear systems by neural networks and fuzzy logic. As the control methods, Gaussian neuro-fuzzy variable structure (GNFVS), feedback error learning architecture (FELA) and direct inverse modeling architecture (DIMA) are studied, and their performances are comparatively evaluated on a two degrees of freedom direct drive robotic manipulator with respect to trajectory tracking performance, computational complexity, design complexity, RMS errors, necessary training time in learning phase and payload variations.