Fractional order dynamics in a Genetic Algorithm

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 phenome...

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Bibliographic Details
Main Author: Pires, E. J. Solteiro (author)
Other Authors: Tenreiro Machado, J. A. (author), Oliveira, P. B. de Moura (author)
Format: conferenceObject
Language:eng
Published: 2019
Subjects:
Fractional calculus
Genetic algorithms
Robotic manipulators
Trajectory planning
Online Access:http://hdl.handle.net/10400.22/13331
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13331
Description
Summary: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.

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