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

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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Main Authors: Xin-hua Liu, Xiao-hu Chen, Xian-hua Zheng, Sheng-peng Li, Zhong-bin Wang
Format: Article
Language:English
Published: Hindawi Limited 2014-01-01
Series:The Scientific World Journal
Online Access:http://dx.doi.org/10.1155/2014/564137
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spelling doaj-61602be46b834d1cb9977e7aeaea698f2020-11-25T00:46:30ZengHindawi LimitedThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/564137564137Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous HandXin-hua Liu0Xiao-hu Chen1Xian-hua Zheng2Sheng-peng Li3Zhong-bin Wang4School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaSchool of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, ChinaIn 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.http://dx.doi.org/10.1155/2014/564137
collection DOAJ
language English
format Article
sources DOAJ
author Xin-hua Liu
Xiao-hu Chen
Xian-hua Zheng
Sheng-peng Li
Zhong-bin Wang
spellingShingle Xin-hua Liu
Xiao-hu Chen
Xian-hua Zheng
Sheng-peng Li
Zhong-bin Wang
Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand
The Scientific World Journal
author_facet Xin-hua Liu
Xiao-hu Chen
Xian-hua Zheng
Sheng-peng Li
Zhong-bin Wang
author_sort Xin-hua Liu
title 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_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_sort development of a ga-fuzzy-immune pid controller with incomplete derivation for robot dexterous hand
publisher Hindawi Limited
series The Scientific World Journal
issn 2356-6140
1537-744X
publishDate 2014-01-01
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.
url http://dx.doi.org/10.1155/2014/564137
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AT xiaohuchen developmentofagafuzzyimmunepidcontrollerwithincompletederivationforrobotdexteroushand
AT xianhuazheng developmentofagafuzzyimmunepidcontrollerwithincompletederivationforrobotdexteroushand
AT shengpengli developmentofagafuzzyimmunepidcontrollerwithincompletederivationforrobotdexteroushand
AT zhongbinwang developmentofagafuzzyimmunepidcontrollerwithincompletederivationforrobotdexteroushand
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