Control of Prosthetic Hand Based on Input Shaping Combined to Fractional PI Controller

Prosthetic hands are of a great interest. For this reason, control laws are required to improve the performances to the optimal level. Two approaches have been proposed to enhance the transient performances, ensure better accuracy and strengthen the robustness against the plant parameter variations. A Fractional Proportional Integral controller (FPI) tuned by Ant Colony optimization (ACO) algorithm has been synthesized and tested by simulations. Then a composite control law based on the Input Shaping approach and a FPI (IS-FPI) has been proposed. Performances have been discussed to evaluate the results and confirm the proposed technics.