Dynamic Responses of PI λ , PD δ , and PI λ D δ Controllers for Prosthetic Hand Model Using PSO Algorithm
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 (P I λ), Fractional-order Proportional Derivative (P Dδ), and Fractional-order Proportional Integral Derivative (P IλDδ) 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 P IλDδ-controller is outperform than other controllers in terms of rise time, settling time and overshoot.
|Journal||Data powered by Typeset2019 IEEE International Symposium on Signal Processing and Information Technology (ISSPIT)|
|Publisher||Data powered by TypesetIEEE|