A particle swarm optimization-PID controller of a DC servomotor for multi-fingered robot hand

W. Faizura Tarmizi, I. Elamvazuthi, N. Perumal, Ku Nurhanim, M. K.A.Ahamed Khan, S. Parasuraman, A. V. Nandedkar

    Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

    8 Citations (Scopus)

    Abstract

    In the construction of robot applications, controller is very important in producing good performance the robot system. This paper presents the modeling and simulation of multi fingered robot hand (MFRH) with the conventional and modern controllers where the output responses have been analyzed. A swarm algorithm known as Particle Swarm Optimization (PSO) has been used to find optimum solutions in a large search space. Simulation of modern controller (PSO-PID) has produced better results than the conventional controller in terms of system parameters such as rise time, settling time steady state error and maximum overshoot in the DC Servomotor speed control MFRH.

    Original languageEnglish
    Title of host publication2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016
    PublisherIEEE, Institute of Electrical and Electronics Engineers
    ISBN (Electronic)9781509009282
    DOIs
    Publication statusPublished - 2017
    EventIEEE International Symposium on Robotics and Manufacturing Automation 2016 - Ipoh, Malaysia
    Duration: 25 Sep 201627 Sep 2016
    Conference number: 2nd
    https://ieeexplore.ieee.org/xpl/conhome/7838013/proceeding (Proceedings)

    Conference

    ConferenceIEEE International Symposium on Robotics and Manufacturing Automation 2016
    Abbreviated titleROMA 2016
    CountryMalaysia
    CityIpoh
    Period25/09/1627/09/16
    Internet address

    Keywords

    • Control
    • MFRH
    • Modeling
    • PID
    • PSO
    • Robotics
    • Simulation

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