Firefly optimised PID control for upper extremity rehabilitation robot
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 shoul...
| Main Authors: | , , , , , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
IEEE
2020
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/80431/ http://irep.iium.edu.my/80431/1/80431%20Firefly%20Optimised%20PID%20Control.pdf http://irep.iium.edu.my/80431/2/80431%20Firefly%20Optimised%20PID%20Control%20SCOPUS.pdf |
| _version_ | 1848788956408184832 |
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| author | Joyo, M. Kamran Raza, Yarooq Kadir, Kushsairy Naidu, Kanendra Ahmed, Syed Faiz Khan, Sheroz |
| author_facet | Joyo, M. Kamran Raza, Yarooq Kadir, Kushsairy Naidu, Kanendra Ahmed, Syed Faiz Khan, Sheroz |
| author_sort | Joyo, M. Kamran |
| building | IIUM Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T17:49:04Z |
| format | Proceeding Paper |
| id | iium-80431 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T17:49:04Z |
| publishDate | 2020 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-804312020-07-07T07:54:51Z http://irep.iium.edu.my/80431/ Firefly optimised PID control for upper extremity rehabilitation robot Joyo, M. Kamran Raza, Yarooq Kadir, Kushsairy Naidu, Kanendra Ahmed, Syed Faiz Khan, Sheroz T Technology (General) 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. IEEE 2020-04-06 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/80431/1/80431%20Firefly%20Optimised%20PID%20Control.pdf application/pdf en http://irep.iium.edu.my/80431/2/80431%20Firefly%20Optimised%20PID%20Control%20SCOPUS.pdf 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. https://ieeexplore.ieee.org/document/9057342 10.1109/ICSIMA47653.2019.9057342 |
| spellingShingle | T Technology (General) Joyo, M. Kamran Raza, Yarooq Kadir, Kushsairy Naidu, Kanendra Ahmed, Syed Faiz Khan, Sheroz Firefly optimised PID control for upper extremity rehabilitation robot |
| title | Firefly optimised PID control for upper extremity rehabilitation robot |
| title_full | Firefly optimised PID control for upper extremity rehabilitation robot |
| title_fullStr | Firefly optimised PID control for upper extremity rehabilitation robot |
| title_full_unstemmed | Firefly optimised PID control for upper extremity rehabilitation robot |
| title_short | Firefly optimised PID control for upper extremity rehabilitation robot |
| title_sort | firefly optimised pid control for upper extremity rehabilitation robot |
| topic | T Technology (General) |
| url | http://irep.iium.edu.my/80431/ http://irep.iium.edu.my/80431/ http://irep.iium.edu.my/80431/ http://irep.iium.edu.my/80431/1/80431%20Firefly%20Optimised%20PID%20Control.pdf http://irep.iium.edu.my/80431/2/80431%20Firefly%20Optimised%20PID%20Control%20SCOPUS.pdf |