Fusion of fuzzy logic and PD control for a five-fingered smart prosthetic hand

Author

Chen, Cheng-Hung ; Naidu, D. Subbaram

Author_Institution

Dept. of Biol. Sci., Idaho State Univ., Pocatello, ID, USA

fYear

2011

fDate

27-30 June 2011

Firstpage

2108

Lastpage

2115

Abstract

A hybrid of soft control technique of adaptive neuro-fuzzy inference system (ANFIS) and fuzzy logic (FL) and hard control technique of proportional-derivative (PD) for a five-fingered, smart prosthetic hand is presented. The ANFIS is used for inverse kinematics and FL is used for tuning the PD parameters with two input layers (error and error change) using 7 triangular membership functions and 49 fuzzy logic rules. Simulation results with FL-tuned PD controller exhibit superior performance compared to the PD and PID control alone.

Keywords

PD control; adaptive control; dexterous manipulators; fuzzy control; fuzzy logic; fuzzy neural nets; fuzzy reasoning; medical robotics; neurocontrollers; prosthetics; ANFIS; PD control; PD parameter tuning; adaptive neuro-fuzzy inference system; five-fingered smart prosthetic hand; fuzzy logic rules; hard control technique; inverse kinematics; proportional-derivative; soft control technique; triangular membership function; Fuzzy logic; Joints; Kinematics; PD control; Prosthetic hand; Thumb; Zirconium; Adaptive Neuro-Fuzzy Inference System; Fuzzy Logic; Hybrid Control; PD Control; Prosthetic Hand;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems (FUZZ), 2011 IEEE International Conference on

Conference_Location

Taipei

ISSN

1098-7584

Print_ISBN

978-1-4244-7315-1

Electronic_ISBN

1098-7584

Type

conf

DOI

10.1109/FUZZY.2011.6007645

Filename

6007645