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
𝐾𝑝	8.152	9.998	4.996	60.345	11.146
𝐾𝑖	0.840	0.020	0.101	1.896	0.017
𝐾𝑑	0.209	0.050	0.100	0.021	0.812
𝜎/%	36.30	21.61	11.54	0	0
𝑡𝑠/s	0.578	0.426	0.592	0.521	0.362
𝑡𝑟/s	0.079	0.105	0.182	0.393	0.226