TY - GEN
T1 - Dynamic Responses of PIλ, PDδ, and PIλ Dδ Controllers for Prosthetic Hand Model Using PSO Algorithm
AU - Batiha, Iqbal M.
AU - El-Khazali, Reyad
AU - Momani, Shaher
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - Prosthetic hand is a device designed to help those with full or partial hand loss retain the function and appearance of a regular hand. It has been shown that such device needs to be enhanced in the control capabilities and functional devising. Thus, a robust design is required to enhance the performance of prosthetic hand model, and also improve existing capabilities to the optimum level. The objective of this paper is to design and analyze the Fractional-order Proportional Integral (PIλ), Fractional-order Proportional Derivative (PDδ), and Fractional-order Proportional Integral Derivative (PIλDδ) controllers for the model under consideration, in order to realize accurate control with high performance. The effect of each controller on the dynamics of a closed-loop system has been discussed and analyzed. Tuning parameters for each controller has been done using Particle Swarm Optimization (PSO) algorithm via El-Khazali's approach. Different simulated comparisons reveal that the performance of PIλDδ-controller is outperform than other controllers in terms of rise time, settling time and overshoot.
AB - Prosthetic hand is a device designed to help those with full or partial hand loss retain the function and appearance of a regular hand. It has been shown that such device needs to be enhanced in the control capabilities and functional devising. Thus, a robust design is required to enhance the performance of prosthetic hand model, and also improve existing capabilities to the optimum level. The objective of this paper is to design and analyze the Fractional-order Proportional Integral (PIλ), Fractional-order Proportional Derivative (PDδ), and Fractional-order Proportional Integral Derivative (PIλDδ) controllers for the model under consideration, in order to realize accurate control with high performance. The effect of each controller on the dynamics of a closed-loop system has been discussed and analyzed. Tuning parameters for each controller has been done using Particle Swarm Optimization (PSO) algorithm via El-Khazali's approach. Different simulated comparisons reveal that the performance of PIλDδ-controller is outperform than other controllers in terms of rise time, settling time and overshoot.
KW - El-Khazali's approach
KW - Laplacian operator
KW - PIλ Dδ -controller
KW - particle swarm optimization algorithm
KW - prosthetic hand model
UR - https://www.scopus.com/pages/publications/85081378347
U2 - 10.1109/ISSPIT47144.2019.9001835
DO - 10.1109/ISSPIT47144.2019.9001835
M3 - Conference contribution
AN - SCOPUS:85081378347
T3 - 2019 IEEE 19th International Symposium on Signal Processing and Information Technology, ISSPIT 2019
BT - 2019 IEEE 19th International Symposium on Signal Processing and Information Technology, ISSPIT 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th IEEE International Symposium on Signal Processing and Information Technology, ISSPIT 2019
Y2 - 10 December 2019 through 12 December 2019
ER -