Firefly optimised PID control for upper extremity rehabilitation robot

Joyo, M. Kamran and Raza, Yarooq and Kadir, Kushsairy and Naidu, Kanendra and Ahmed, Syed Faiz and Khan, Sheroz (2020) Firefly optimised PID control for upper extremity rehabilitation robot. In: 2019 IEEE 6th International Conference on Smart Instrumentation, Measurement and Applications (ICSIMA 2019), 27- 29 Aug 2019, Kuala Lumpur, Malaysia.

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Abstract

This paper proposes a meta-heuristic technique to optimize controller parameters for upper extremity rehabilitation robot. The exoskeleton used in this study is a three-degrees-of-freedom system facilitating shoulder and elbow joint movements. The robot exoskeleton is designed for facilitating shoulder abduction/ adduction, extension/ flexion, horizontal external/ internal rotation and elbow extension/ flexion. Zeigler-Nichols is a conventional technique for setting the PID parameters produces large overshoots, high rise-time and settling-time in the system. To address such issues nature-inspired Firefly optimization algorithm for the parameterizing 2-DOF-PID controller has been proposed. A comparative analysis between two algorithms has been done for a 3-DOF upper extremity rehabilitation robot. For analysis, four different objective functions ISE (integral square error), ITSE (integral time square error), IAE (integral absolute error) and ITAE (integral time absolute error) have been used. The results of the analysis showed that Firefly algorithm with ITAE as objective functions performs better in terms of overshoot, rise-time and settling-time.

Item Type:	Conference or Workshop Item (Plenary Papers)
Additional Information:	3930/80431
Uncontrolled Keywords:	upper limb rehabilitation robot; Ziegler-Nichols; Firefly Algorithm; 2-DOF PID
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Electrical and Computer Engineering
Depositing User:	dr Sheroz Khan
Date Deposited:	12 May 2020 10:03
Last Modified:	07 Jul 2020 15:54
URI:	http://irep.iium.edu.my/id/eprint/80431

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