Fractional order dynamics in a genetic algorithm

被引：0
|
作者：
Pires, EJS [1 ]
Machado, JAT [1 ]
Oliveira, PBD [1 ]
机构：
[1] Univ Tras Montes Alto Douro, Dep Eng Electrotecn, P-5000911 Vila Real, Portugal
来源：
PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年
关键词：
fractional calculus; genetic algorithms; robotic manipulators; trajectory planning;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This work addresses the fractional-order dynamics during the evolution of a Genetic Algorithm population (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 input/output signals are studied revealing a fractional-order dynamic evolution, characteristic of a long-term system memory.
引用
收藏
页码：264 / 269
页数：6
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