• Neha Kapoor

Various sources estimate the total share of conventional controllers like PID and SMC in all the motion control controllers in industry is about 80% [1-5]. But, tuning of PID and SMC controller parameters is a tedious and time consuming job especially for the systems like manipulator. Moreover, it is well acknowledged that soft computing techniques present a helpful approach in modeling and control of non linear systems like manipulator. Hence, in this paper, an emerging optimization intelligent technique, naming ant colony optimization (ACO), is used for getting the optimized value of the constant parameters of these conventional controllers. These hybrid controllers have been applied to robotic manipulator for tracking a predefined trajectory tracking and hence checked for their effectiveness. These proposed hybrid intelligent controllers have proven themselves when compared to the basic original conventional controllers.

Intelligent systems, ACO, Manipulator

"ACO based hybrid Intelligent Controllers for Trajectory Tracking of Manipulator", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.8, Issue 11, page no.a1-a9, November-2021, Available :http://www.jetir.org/papers/JETIR2111001.pdf

"ACO based hybrid Intelligent Controllers for Trajectory Tracking of Manipulator", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.8, Issue 11, page no. ppa1-a9, November-2021, Available at : http://www.jetir.org/papers/JETIR2111001.pdf