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Development of a GA-fuzzy-immune PID controller with incomplete derivation for robot dexterous hand.

Liu XH, Chen XH, Zheng XH, Li SP, Wang ZB - ScientificWorldJournal (2014)

Bottom Line: 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.

View Article: PubMed Central - PubMed

Affiliation: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China ; Xuyi Mine Equipment and Materials R&D Center, China University of Mining and Technology, Huai'an 211700, China.

ABSTRACT
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.

Show MeSH
The immunity feedback control mechanism.
© Copyright Policy - open-access
Related In: Results  -  Collection


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fig3: The immunity feedback control mechanism.

Mentions: As a kind of control system, biological immune system has very strong robustness and self-adapted ability even when encountering strong disturbances and uncertain conditions. For invasion by a foreign antigen, it can produce corresponding antibodies to resist the antigen. A series of biological reactions could be carried out after combining antigens with antibodies and it eliminates antigen under the function of phagocyte or special enzymes. The immune system consists of lymphocyte and antibody. The lymphocyte consists of B cell produced from marrow and T cell produced from thymus. T cell includes assistant T cell TH and restrained T cell TS. When cell obtains signal from the antigen, it would transmit the information to TH and TS, and then B cell produces corresponding antibodies to resist the antigen with the stimulation by TH and TS. The immunity feedback control mechanism is shown in Figure 3.


Development of a GA-fuzzy-immune PID controller with incomplete derivation for robot dexterous hand.

Liu XH, Chen XH, Zheng XH, Li SP, Wang ZB - ScientificWorldJournal (2014)

The immunity feedback control mechanism.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC4109120&req=5

fig3: The immunity feedback control mechanism.
Mentions: As a kind of control system, biological immune system has very strong robustness and self-adapted ability even when encountering strong disturbances and uncertain conditions. For invasion by a foreign antigen, it can produce corresponding antibodies to resist the antigen. A series of biological reactions could be carried out after combining antigens with antibodies and it eliminates antigen under the function of phagocyte or special enzymes. The immune system consists of lymphocyte and antibody. The lymphocyte consists of B cell produced from marrow and T cell produced from thymus. T cell includes assistant T cell TH and restrained T cell TS. When cell obtains signal from the antigen, it would transmit the information to TH and TS, and then B cell produces corresponding antibodies to resist the antigen with the stimulation by TH and TS. The immunity feedback control mechanism is shown in Figure 3.

Bottom Line: 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.

View Article: PubMed Central - PubMed

Affiliation: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China ; Xuyi Mine Equipment and Materials R&D Center, China University of Mining and Technology, Huai'an 211700, China.

ABSTRACT
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.

Show MeSH