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

doi:10.1109/ROMA.2016.7847837

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

Malaysia Sch of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

9 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 language	English
Title of host publication	2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016
Publisher	IEEE, Institute of Electrical and Electronics Engineers
ISBN (Electronic)	9781509009282
DOIs	https://doi.org/10.1109/ROMA.2016.7847837
Publication status	Published - 2017
Event	IEEE International Symposium on Robotics and Manufacturing Automation 2016 - Ipoh, Malaysia Duration: 25 Sep 2016 → 27 Sep 2016 Conference number: 2nd https://ieeexplore.ieee.org/xpl/conhome/7838013/proceeding (Proceedings)

Conference

Conference	IEEE International Symposium on Robotics and Manufacturing Automation 2016
Abbreviated title	ROMA 2016
Country/Territory	Malaysia
City	Ipoh
Period	25/09/16 → 27/09/16
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7838013/proceeding (Proceedings)

Keywords

Control
MFRH
Modeling
PID
PSO
Robotics
Simulation

Access to Document

10.1109/ROMA.2016.7847837

Cite this

Tarmizi, W. F., Elamvazuthi, I., Perumal, N., Nurhanim, K., Khan, M. K. A. A., Parasuraman, S., & Nandedkar, A. V. (2017). A particle swarm optimization-PID controller of a DC servomotor for multi-fingered robot hand. In 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016 [7847837] IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ROMA.2016.7847837

@inproceedings{70a0744d3f444c0ba68007da98464859,

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

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.",

keywords = "Control, MFRH, Modeling, PID, PSO, Robotics, Simulation",

author = "Tarmizi, {W. Faizura} and I. Elamvazuthi and N. Perumal and Ku Nurhanim and Khan, {M. K.A.Ahamed} and S. Parasuraman and Nandedkar, {A. V.}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE. Copyright: Copyright 2017 Elsevier B.V., All rights reserved.; IEEE International Symposium on Robotics and Manufacturing Automation 2016, ROMA 2016 ; Conference date: 25-09-2016 Through 27-09-2016",

year = "2017",

doi = "10.1109/ROMA.2016.7847837",

language = "English",

booktitle = "2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

url = "https://ieeexplore.ieee.org/xpl/conhome/7838013/proceeding",

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Tarmizi, WF, Elamvazuthi, I, Perumal, N, Nurhanim, K, Khan, MKAA, Parasuraman, S & Nandedkar, AV 2017, A particle swarm optimization-PID controller of a DC servomotor for multi-fingered robot hand. in 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016., 7847837, IEEE, Institute of Electrical and Electronics Engineers, IEEE International Symposium on Robotics and Manufacturing Automation 2016, Ipoh, Malaysia, 25/09/16. https://doi.org/10.1109/ROMA.2016.7847837

A particle swarm optimization-PID controller of a DC servomotor for multi-fingered robot hand. / Tarmizi, W. Faizura; Elamvazuthi, I.; Perumal, N. et al.

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016. IEEE, Institute of Electrical and Electronics Engineers, 2017. 7847837.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

TY - GEN

T1 - A particle swarm optimization-PID controller of a DC servomotor for multi-fingered robot hand

AU - Tarmizi, W. Faizura

AU - Elamvazuthi, I.

AU - Perumal, N.

AU - Nurhanim, Ku

AU - Khan, M. K.A.Ahamed

AU - Parasuraman, S.

AU - Nandedkar, A. V.

N1 - Conference code: 2nd

PY - 2017

Y1 - 2017

N2 - 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.

AB - 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.

KW - Control

KW - MFRH

KW - Modeling

KW - PID

KW - PSO

KW - Robotics

KW - Simulation

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M3 - Conference Paper

AN - SCOPUS:85015923137

BT - 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - IEEE International Symposium on Robotics and Manufacturing Automation 2016

Y2 - 25 September 2016 through 27 September 2016

ER -

Tarmizi WF, Elamvazuthi I, Perumal N, Nurhanim K, Khan MKAA, Parasuraman S et al. A particle swarm optimization-PID controller of a DC servomotor for multi-fingered robot hand. In 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016. IEEE, Institute of Electrical and Electronics Engineers. 2017. 7847837 https://doi.org/10.1109/ROMA.2016.7847837

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

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Keywords

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