Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand

In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved...

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Autores principales: Liu, Xin-hua, Chen, Xiao-hu, Zheng, Xian-hua, Li, Sheng-peng, Wang, Zhong-bin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi Publishing Corporation 2014
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4109120/
https://www.ncbi.nlm.nih.gov/pubmed/25097881
http://dx.doi.org/10.1155/2014/564137
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author Liu, Xin-hua
Chen, Xiao-hu
Zheng, Xian-hua
Li, Sheng-peng
Wang, Zhong-bin
author_facet Liu, Xin-hua
Chen, Xiao-hu
Zheng, Xian-hua
Li, Sheng-peng
Wang, Zhong-bin
author_sort Liu, Xin-hua
collection PubMed
description In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization. Finally, a simulation example was provided and the designed controller was proved ideal.
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spelling pubmed-41091202014-08-05 Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand Liu, Xin-hua Chen, Xiao-hu Zheng, Xian-hua Li, Sheng-peng Wang, Zhong-bin ScientificWorldJournal Research Article In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization. Finally, a simulation example was provided and the designed controller was proved ideal. Hindawi Publishing Corporation 2014 2014-07-06 /pmc/articles/PMC4109120/ /pubmed/25097881 http://dx.doi.org/10.1155/2014/564137 Text en Copyright © 2014 Xin-hua Liu et al. https://creativecommons.org/licenses/by/3.0/ This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
spellingShingle Research Article
Liu, Xin-hua
Chen, Xiao-hu
Zheng, Xian-hua
Li, Sheng-peng
Wang, Zhong-bin
Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand
title Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand
title_full Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand
title_fullStr Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand
title_full_unstemmed Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand
title_short Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand
title_sort development of a ga-fuzzy-immune pid controller with incomplete derivation for robot dexterous hand
topic Research Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4109120/
https://www.ncbi.nlm.nih.gov/pubmed/25097881
http://dx.doi.org/10.1155/2014/564137
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