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

Volume

1

fYear

2008

fDate

17-19 Nov. 2008

Firstpage

528

Lastpage

532

Abstract

Considering the nonlinearity and strong coupling of Stewart platform, a co-evolutionary control method is proposed for it, based on this method, Â¿ 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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ISKE.2008.4730988

Filename

4730988