A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand

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 sw...

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Main Authors: Tarmizi, W.F., Elamvazuthi, I., Perumal, N., Nurhanim, K., Khan, M.K.A.A., Parasuraman, S., Nandedkar, A.V.
Format: Article
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-eprints.20152 /
Published: Institute of Electrical and Electronics Engineers Inc. 2017
Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85015923137&doi=10.1109%2fROMA.2016.7847837&partnerID=40&md5=a4297ef1946c00b5f8425aca87c829d4
http://eprints.utp.edu.my/20152/
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spelling utp-eprints.201522018-04-22T14:43:30Z A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand Tarmizi, W.F. Elamvazuthi, I. Perumal, N. Nurhanim, K. Khan, M.K.A.A. Parasuraman, S. Nandedkar, A.V. 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. © 2016 IEEE. Institute of Electrical and Electronics Engineers Inc. 2017 Article PeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85015923137&doi=10.1109%2fROMA.2016.7847837&partnerID=40&md5=a4297ef1946c00b5f8425aca87c829d4 Tarmizi, W.F. and Elamvazuthi, I. and Perumal, N. and Nurhanim, K. and Khan, M.K.A.A. and Parasuraman, S. and Nandedkar, A.V. (2017) A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand. 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016 . http://eprints.utp.edu.my/20152/
institution Universiti Teknologi Petronas
collection UTP Institutional Repository
description 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. © 2016 IEEE.
format Article
author Tarmizi, W.F.
Elamvazuthi, I.
Perumal, N.
Nurhanim, K.
Khan, M.K.A.A.
Parasuraman, S.
Nandedkar, A.V.
spellingShingle Tarmizi, W.F.
Elamvazuthi, I.
Perumal, N.
Nurhanim, K.
Khan, M.K.A.A.
Parasuraman, S.
Nandedkar, A.V.
A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand
author_sort Tarmizi, W.F.
title A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand
title_short A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand
title_full A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand
title_fullStr A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand
title_full_unstemmed A Particle Swarm Optimization-PID controller of a DC Servomotor for Multi-Fingered Robot Hand
title_sort particle swarm optimization-pid controller of a dc servomotor for multi-fingered robot hand
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2017
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85015923137&doi=10.1109%2fROMA.2016.7847837&partnerID=40&md5=a4297ef1946c00b5f8425aca87c829d4
http://eprints.utp.edu.my/20152/
_version_ 1741196326355337216
score 11.62408

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