Fractional order dynamics in a GA planner

被引：26
作者：
Pires, EJS [1 ]
Machado, JAT
Oliviera, PBD
机构：
[1] Univ Tras Os Montes & Alto Douro, Dept Engn Electrotech, P-5000911 Vila Real, Portugal
[2] Inst Super Engn Porto, Dept Engn Electrotech, P-4200072 Oporto, Portugal
来源：
SIGNAL PROCESSING | 2003年 / 83卷 / 11期
关键词：
signal analysis; fractional calculus; genetic algorithms; robotic manipulators; trajectory planning; optimization;
D O I：
10.1016/S0165-1684(03)00190-7
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This work addresses the signal propagation and the fractional-order dynamics during, the evolution of a genetic algorithm (GA), for generating a robot manipulator trajectory. The GA objective is to minimize the trajectory space/time ripple without exceeding the torque requirements. In order to investigate the phenomena involved in the GA population evolution, the mutation is exposed to excitation perturbations and the corresponding fitness variations are evaluated. The chaos-like noise and the input/output signals are studied revealing a fractional-order dynamics, characteristic of a long-term system memory. (C) 2003 Elsevier B.V. All rights reserved.
引用
收藏
页码：2377 / 2386
页数：10
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