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Mathematical Problems in Engineering
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Special Issues
Mathematical Problems in Engineering
/
2012
/
Article
/
Tab 1
/
Research Article
Neuroendocrine-Based Cooperative Intelligent Control System for Multiobjective Integrated Control of a Parallel Manipulator
Table 1
Parameter set.
Initial PID
Error factors
Hormone regulation factors
𝐾
𝑝
0
𝑖
=
0
.
0
3
𝑒
𝑖
m
a
x
=
1
r/s
𝑘
𝑝
𝑖
=
5
,
𝛽
𝑝
𝑖
=
1
.
2
,
𝜂
𝑝
𝑖
=
2
0
%
𝐾
𝑖
0
𝑖
=
0
.
0
0
4
𝑒
𝑖
m
i
n
=
−
1
r/s
𝑘
𝑖
𝑖
=
5
,
𝛽
𝑖
𝑖
=
1
.
2
,
𝜂
𝑖
𝑖
=
1
5
%
𝐾
𝑑
0
𝑖
=
0
.
0
0
5
𝑘
𝑑
𝑖
=
3
,
𝛽
𝑑
𝑖
=
1
,
𝜂
𝑑
𝑖
=
1
0
%