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Zbl 1145.94371
Pires, E.J.Solteiro; Machado, J.A.Tenreiro; De Moura Oliveira, P.B.
Fractional order dynamics in a GA planner. (English)
[J] Signal Process. 83, No. 11, 2377-2386 (2003). ISSN 0165-1684

Summary: 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.

MSC 2000:: *94A12 Signal theory
26A33 Fractional derivatives and integrals (real functions)

Keywords: signal analysis; fractional calculus; genetic algorithms; robotic manipulators; trajectory planning; optimization

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