Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand-Reference-Cited by-同舟云学术

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

Published:2014 Issue: Volume:2014 Page:1-10
ISSN:2356-6140
Container-title:The Scientific World Journal
language:en
Short-container-title:The Scientific World Journal

Author:

Liu Xin-hua¹²,Chen Xiao-hu¹,Zheng Xian-hua¹,Li Sheng-peng¹,Wang Zhong-bin¹

Affiliation:

1. School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China

2. 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.

Funder

Fundamental Research Funds for the Central Universities

Publisher

Hindawi Limited

Subject

General Environmental Science,General Biochemistry, Genetics and Molecular Biology,General Medicine

Link

http://downloads.hindawi.com/journals/tswj/2014/564137.pdf

Reference35 articles.

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