Title :
A cooperative co-evolutionary control method for Stewart platform
Author :
Sun, Jian ; Ding, Yongsheng ; Hao, Kuangrong
Author_Institution :
Coll. of Inf. Sci. & Technol., Donghua Univ., Shanghai, China
Abstract :
Considering the nonlinearity and strong coupling of Stewart platform, a co-evolutionary control method is proposed for it, based on this method, ¿ distribution function is introduced to regulate the probabilities of individuals production to promote the speed of evolutionary according to the characteristic of control system. Compared with the traditional genetic algorithm, the searching space has been decreased greatly by the method. Furthermore, tested on Stewart platform, the control mode in this paper has the traits of high-speed response, small overshoot and better robustness so on.
Keywords :
genetic algorithms; manipulators; optimal control; Stewart platform; cooperative co-evolutionary control method; distribution function; genetic algorithm; high-speed response; Control systems; Couplings; Distribution functions; Fuzzy control; Genetic algorithms; Intelligent systems; Knowledge engineering; Nonlinear control systems; Partitioning algorithms; Textile technology; χ distribution function; Stewart platform; cooperative co-evolution; independent evolution;
Conference_Titel :
Intelligent System and Knowledge Engineering, 2008. ISKE 2008. 3rd International Conference on
Conference_Location :
Xiamen
Print_ISBN :
978-1-4244-2196-1
Electronic_ISBN :
978-1-4244-2197-8
DOI :
10.1109/ISKE.2008.4730988
