Fractional order dynamics in a GA planner

Detalhes bibliográficos
Autor(a) principal: Pires, E. J. Solteiro
Data de Publicação: 2003
Outros Autores: Tenreiro Machado, J. A., Oliveira, P. B. de Moura
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/13507
Resumo: 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.
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spelling Fractional order dynamics in a GA plannerSignal analysisFractional calculusGenetic algorithmsRobotic manipulatorsTrajectory planningOptimizationThis 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.ElsevierRepositório Científico do Instituto Politécnico do PortoPires, E. J. SolteiroTenreiro Machado, J. A.Oliveira, P. B. de Moura2003-112115-01-01T00:00:00Z2003-11-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/13507eng10.1016/S0165-1684(03)00190-7metadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:49:03Zoai:recipp.ipp.pt:10400.22/13507Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:28:46.191184Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Fractional order dynamics in a GA planner
title Fractional order dynamics in a GA planner
spellingShingle Fractional order dynamics in a GA planner
Pires, E. J. Solteiro
Signal analysis
Fractional calculus
Genetic algorithms
Robotic manipulators
Trajectory planning
Optimization
title_short Fractional order dynamics in a GA planner
title_full Fractional order dynamics in a GA planner
title_fullStr Fractional order dynamics in a GA planner
title_full_unstemmed Fractional order dynamics in a GA planner
title_sort Fractional order dynamics in a GA planner
author Pires, E. J. Solteiro
author_facet Pires, E. J. Solteiro
Tenreiro Machado, J. A.
Oliveira, P. B. de Moura
author_role author
author2 Tenreiro Machado, J. A.
Oliveira, P. B. de Moura
author2_role author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Pires, E. J. Solteiro
Tenreiro Machado, J. A.
Oliveira, P. B. de Moura
dc.subject.por.fl_str_mv Signal analysis
Fractional calculus
Genetic algorithms
Robotic manipulators
Trajectory planning
Optimization
topic Signal analysis
Fractional calculus
Genetic algorithms
Robotic manipulators
Trajectory planning
Optimization
description 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.
publishDate 2003
dc.date.none.fl_str_mv 2003-11
2003-11-01T00:00:00Z
2115-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
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dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/13507
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dc.language.iso.fl_str_mv eng
language eng
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dc.publisher.none.fl_str_mv Elsevier
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repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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