Research Article
Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand
Table 2
PID parameters and performance indexes of five control methods.
| Control methods | Fuzzy | Immune | F-I | Real-coded GA | GA-F-I |
| | 8.152 | 9.998 | 4.996 | 60.345 | 11.146 | | 0.840 | 0.020 | 0.101 | 1.896 | 0.017 | | 0.209 | 0.050 | 0.100 | 0.021 | 0.812 | /% | 36.30 | 21.61 | 11.54 | 0 | 0 | /s | 0.578 | 0.426 | 0.592 | 0.521 | 0.362 | /s | 0.079 | 0.105 | 0.182 | 0.393 | 0.226 |
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