Title :
Hybrid control strategy for five-fingered smart prosthetic hand
Author :
Chen, Cheng-Hung ; Naidu, D. Subbaram ; Perez-Gracia, Alba ; Schoen, Marco P.
Author_Institution :
Dept. of Biol. Sci., Idaho State Univ., Pocatello, ID, USA
Abstract :
This paper presents a hybrid of soft computing or control technique of adaptive neuro-fuzzy inference system (ANFIS) and hard computing or control technique of finite-time linear quadratic optimal control for the 14 degrees of freedom (DOFs), five-fingered smart prosthetic hand. In particular, ANFIS is used for inverse kinematics, and the optimal control is used for feedback linearized dynamics to minimize tracking error. The simulations of this hybrid controller, when compared with the proportional-integral-derivative (PID) controller showed enhanced performance.
Keywords :
adaptive control; feedback; fuzzy logic; fuzzy reasoning; linear quadratic control; medical control systems; neurocontrollers; prosthetics; 14 degrees of freedom; adaptive neuro-fuzzy inference system; feedback linearized dynamics; finite-time linear quadratic optimal control; five-fingered smart prosthetic hand; hard computing; hybrid control strategy; inverse kinematics; soft computing; Adaptive control; Adaptive systems; Control systems; Kinematics; Neurofeedback; Optimal control; Pi control; Programmable control; Proportional control; Prosthetic hand; Adaptive Neuro-Fuzzy Inference System; Hybrid Control; Optimal Control; PID Control; Prosthetic Hand;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400771
