| Stewart平台的合作型协同进化控制 |
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| 引用本文： | 孙坚,王强,王仁明. Stewart平台的合作型协同进化控制[J]. 三峡大学学报(自然科学版), 2011, 33(3): 96-99 |
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| 作者姓名： | 孙坚 王强 王仁明 |
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| 作者单位： | 三峡大学电气与新能源学院,湖北宜昌,443002 |
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| 基金项目： | 三峡大学博士启动基金项目(KJ2009B038) |
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| 摘 要： | 针对Stewart平台的非线性和强耦合性,提出合作型协同进化的控制方式,在此控制方式的基础上,根据控制系统的特征引入χ2分布来调节个体产生的概率,来提高进化速度.与传统的遗传算法相比,本文提出的控制方式大大减小了搜索空间.经在Stewart平台上测试,本文提出的控制方式具有响应速度快、超调小和鲁棒性好等优点.
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| 关 键 词： | Stewart平台 合作型协同进化 χ2分布函数 独立进化 |
A Cooperative Co-Evolutionary Control Method for Stewart Platform |
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| Sun Jian,Wang Qiang,Wang Renming. A Cooperative Co-Evolutionary Control Method for Stewart Platform[J]. Journal of China Three Gorges University(Natural Sciences), 2011, 33(3): 96-99 |
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| Authors: | Sun Jian Wang Qiang Wang Renming |
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| Affiliation: | Sun Jian Wang Qiang Wang Renming(College of Electrical Engineering & Renewable Energy,China Three Gorges Univ.,Yichang 443002,China) |
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| Abstract: | Considering the nonlinearity and strong coupling of Stewart platform,a co-evolutionary control method for it is proposed.Based on this method,χ2 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,by testing on the Stewart platform,it is shown that the control mode in this paper has the traits of high-speed response,small overshoot and better robustness and so on. |
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| Keywords: | Stewart platform cooperative co-evolution χ2 distribution function independent evolution |
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