@inproceedings{d76f01fa97354ae298cc12fa16c4c551,
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.",
keywords = "Adaptive neuro-fuzzy inference system, Hybrid control, Optimal control, PID control, Prosthetic hand",
author = "Chen, {G. Hung} and {Subbaram Naidu}, D. and Alba Perez-Gracia and Schoen, {Marco P.}",
year = "2009",
doi = "10.1109/CDC.2009.5400771",
language = "English (US)",
isbn = "9781424438716",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5102--5107",
booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",
note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",
}