Paper Info
Title
Hybrid control strategy for five-fingered smart prosthetic hand
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.
Year
DOI
Venue
2009
10.1109/CDC.2009.5400771
CDC
Keywords
Field
DocType
linear quadratic control,fuzzy reasoning,medical control systems,adaptive neuro-fuzzy inference system,neurocontrollers,hybrid control strategy,pid control,inverse kinematics,hybrid control,prosthetics,five-fingered smart prosthetic hand,fuzzy logic,feedback,adaptive control,optimal control,feedback linearized dynamics,14 degrees of freedom,finite-time linear quadratic optimal control,hard computing,prosthetic hand,soft computing,proportional integral derivative,indexes,degree of freedom,pid controller,feedback linearization,quadratic optimization,trajectory,adaptive neuro fuzzy inference system
Control theory,Optimal control,Inverse kinematics,PID controller,Control theory,Computer science,Control engineering,Adaptive neuro fuzzy inference system,Soft computing,Adaptive control,Tracking error
Conference
ISSN
ISBN
Citations 
0191-2216 E-ISBN : 978-1-4244-3872-3
978-1-4244-3872-3
2
PageRank 
References 
Authors
0.42
7
4
Name
Order
Citations
PageRank
Cheng-Hung Chen143725.02
D. Subbaram Naidu21710.06
Alba Perez Gracia351.56
Marco P Schoen4104.54