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Fractional order dynamics in a Genetic Algorithm
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Resumo(s)
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.
Descrição
Palavras-chave
Fractional calculus Genetic algorithms Robotic manipulators Trajectory planning