Optimal Position Fuzzy Control of an Underactuated Robotic Finger

Table 6

Comparison between different control strategies.

Author	Control	Finger dynamic model	Trajectories	Error
Calderon et al. [10]	PI	No	Step 17 mm	SSE 0
Tasar et al. [11]	PID	Yes	Step (for three phalanxes)	SSE 0.255 deg (max)
Ghazali et al. [14]	Fuzzy-PID	No	Step 90 deg	SSE 0 deg
Ghazali et al. [14]	Fuzzy	No	Step 90 deg	SSE 0.12 deg
Raković et al. [12]	Fuzzy	No	Step 100 rad	SSE 0 rad
Jalani et al. [43]	PID	Yes	Sinusoidal [0–(−1)] rad	0.0159 rad
Jalani et al. [43]	Adaptive	Yes	Sinusoidal [0–4] rad	0.0791 rad
Jalani et al. [43]	SMC	Yes	Sinusoidal [0–(−1)] rad	0.0167 rad
Our proposal	Optimized fuzzy	No	Sinusoidal [0–1.483] rad	3.1352E − 04 rad