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

Cheng Hung Chen, D. Subbaram Naidu

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

5 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationFUZZ 2011 - 2011 IEEE International Conference on Fuzzy Systems - Proceedings
Pages2108-2115
Number of pages8
DOIs
StatePublished - Sep 27 2011
Event2011 IEEE International Conference on Fuzzy Systems, FUZZ 2011 - Taipei, Taiwan, Province of China
Duration: Jun 27 2011Jun 30 2011

Publication series

NameIEEE International Conference on Fuzzy Systems
ISSN (Print)1098-7584

Other

Other2011 IEEE International Conference on Fuzzy Systems, FUZZ 2011
CountryTaiwan, Province of China
CityTaipei
Period6/27/116/30/11

Keywords

  • Adaptive Neuro-Fuzzy Inference System
  • Fuzzy Logic
  • Hybrid Control
  • PD Control
  • Prosthetic Hand

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