Limits...
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
Membership functions for Δu.
© Copyright Policy - open-access
Related In: Results  -  Collection


getmorefigures.php?uid=PMC4109120&req=5

fig6: Membership functions for Δu.

Mentions: As a frequently used membership function, Gaussian membership function has the feature of good smoothness and can express the concept of fuzzy language more exactly; thus, it is applied for the proposed controller. Figure 5 shows the membership functions for u, Figure 6 shows the membership functions for Δu, and Figure 7 shows the membership functions for f(∗).


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)

Membership functions for Δu.
© Copyright Policy - open-access
Related In: Results  -  Collection

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

fig6: Membership functions for Δu.
Mentions: As a frequently used membership function, Gaussian membership function has the feature of good smoothness and can express the concept of fuzzy language more exactly; thus, it is applied for the proposed controller. Figure 5 shows the membership functions for u, Figure 6 shows the membership functions for Δu, and Figure 7 shows the membership functions for f(∗).

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