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Robust Controller Design with Particle Swarm Optimization for Nonlinear Prosthetic Hand System

Mohd Hafiz Jali, Tarmizi Ahmad Izzuddin, Rozaimi Ghazali, Chong Chee Soon, and Fauzal Naim Zohedi
Centre for Robotics and Industrial Automation, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia
Abstract—The recent trend of a prosthetic hand is gradually importance due to its capability to replace amputee’s hand that is lost caused by various factors. However, precision control of prosthetic hand is challenging task especially dealing with its high precision response and functionality. Apart of comprehensive modelling, the controller is another essential part that playing a vital role in the enhancement of the prosthetic hand performance. In this paper, a Sliding Mode Control (SMC) has been designed and integrated with the prosthetic hand, which parameters have been obtained through try and error technique, followed by an optimization technique using Particle Swarm Optimization (PSO) algorithm. The finding shows that the SMC, which is optimized using PSO algorithm outperforms the conventional SMC and proportional-integral-derivative (PID) controllers. Therefore, it can be inferred that appropriate controller with proper tuning technique is essential to achieve high precision performance for a prosthetic hand.

Index Terms—prosthetic hand, nonlinear, sliding mode, control, particle swarm optimization

Cite:Mohd Hafiz Jali, Tarmizi Ahmad Izzuddin, Rozaimi Ghazali, Chong Chee Soon, and Fauzal Naim Zohedi, "Robust Controller Design with Particle Swarm Optimization for Nonlinear Prosthetic Hand System," International Journal of Mechanical Engineering and Robotics Research, Vol. 6, No. 5, pp. 406-412, September 2017. DOI: 10.18178/ijmerr.6.5.406-412
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