In this paper, the application of modified genetic algorithms (MGA) in the optimization of the ARX Model-based observer of the Pneumatic Artificial Muscle (PAM) manipulator is investigated. The new MGA algorithm is pr...In this paper, the application of modified genetic algorithms (MGA) in the optimization of the ARX Model-based observer of the Pneumatic Artificial Muscle (PAM) manipulator is investigated. The new MGA algorithm is proposed from the genetic algorithm with important additional strategies, and consequently yields a faster convergence and a more accurate search. Firstly, MGA-based identification method is used to identify the parameters of the nonlinear PAM manipulator described by an ARX model in the presence of white noise and this result will be validated by MGA and compared with the simple genetic algorithm (GA) and LMS (Least mean-squares) method. Secondly, the intrinsic features of the hysteresis as well as other nonlinear disturbances existing intuitively in the PAM system are estimated online by a Modified Recursive Least Square (MRLS) method in identification experiment. Finally, a highly efficient self-tuning control algorithm Minimum Variance Control (MVC) is taken for tracking the joint angle position trajectory of this PAM manipulator. Experiment results are included to demonstrate the excellent performance of the MGA algorithm in the NARX model-based MVC control system of the PAM system. These results can be applied to model, identify and control other highly nonlinear systems as well.展开更多
The micro-genetic algorithm (MGA) optimization combined with the finite-difference time-domain (FDTD) method is applied to design a band-notched ultra wide-band (UWB) antenna. A U-type slot on a stepped U-type UWB mon...The micro-genetic algorithm (MGA) optimization combined with the finite-difference time-domain (FDTD) method is applied to design a band-notched ultra wide-band (UWB) antenna. A U-type slot on a stepped U-type UWB monopole is used to obtain the band-notched characteristic for 5 GHz wireless local area network (WLAN) band. The measured results show that voltage standing wave ration (VSWR) less than 2 covers 3.1-10.6 GHz operating band and VSWR more than 2 is within 5.150-5.825 GHz notched one with the highest value of 5.6. Agreement among the calculated, HFSS simulated and measured results validates the effiectiveness of this MGA-FDTD method, which is efficient for UWB antennas design.展开更多
针对有阵列孔径阵元总数和最小阵元间距约束的稀布同心圆环阵列综合问题,提出了一种基于修正遗传算法(Modified real Genetic Algorithm,MGA)的半径优化方法.通过约束同一圆环上阵元间距相等,利用MGA优化圆环的半径,获得最小的峰值旁瓣...针对有阵列孔径阵元总数和最小阵元间距约束的稀布同心圆环阵列综合问题,提出了一种基于修正遗传算法(Modified real Genetic Algorithm,MGA)的半径优化方法.通过约束同一圆环上阵元间距相等,利用MGA优化圆环的半径,获得最小的峰值旁瓣电平.该方法不仅降低了优化的计算量和模型的复杂性,而且还有效地改善了阵列的旁瓣性能.仿真结果证明了该方法的有效性和鲁棒性.展开更多
文摘In this paper, the application of modified genetic algorithms (MGA) in the optimization of the ARX Model-based observer of the Pneumatic Artificial Muscle (PAM) manipulator is investigated. The new MGA algorithm is proposed from the genetic algorithm with important additional strategies, and consequently yields a faster convergence and a more accurate search. Firstly, MGA-based identification method is used to identify the parameters of the nonlinear PAM manipulator described by an ARX model in the presence of white noise and this result will be validated by MGA and compared with the simple genetic algorithm (GA) and LMS (Least mean-squares) method. Secondly, the intrinsic features of the hysteresis as well as other nonlinear disturbances existing intuitively in the PAM system are estimated online by a Modified Recursive Least Square (MRLS) method in identification experiment. Finally, a highly efficient self-tuning control algorithm Minimum Variance Control (MVC) is taken for tracking the joint angle position trajectory of this PAM manipulator. Experiment results are included to demonstrate the excellent performance of the MGA algorithm in the NARX model-based MVC control system of the PAM system. These results can be applied to model, identify and control other highly nonlinear systems as well.
基金supported by the Shanghai Leading Academic Discipline Project (Grant No.S30108)
文摘The micro-genetic algorithm (MGA) optimization combined with the finite-difference time-domain (FDTD) method is applied to design a band-notched ultra wide-band (UWB) antenna. A U-type slot on a stepped U-type UWB monopole is used to obtain the band-notched characteristic for 5 GHz wireless local area network (WLAN) band. The measured results show that voltage standing wave ration (VSWR) less than 2 covers 3.1-10.6 GHz operating band and VSWR more than 2 is within 5.150-5.825 GHz notched one with the highest value of 5.6. Agreement among the calculated, HFSS simulated and measured results validates the effiectiveness of this MGA-FDTD method, which is efficient for UWB antennas design.
文摘针对有阵列孔径阵元总数和最小阵元间距约束的稀布同心圆环阵列综合问题,提出了一种基于修正遗传算法(Modified real Genetic Algorithm,MGA)的半径优化方法.通过约束同一圆环上阵元间距相等,利用MGA优化圆环的半径,获得最小的峰值旁瓣电平.该方法不仅降低了优化的计算量和模型的复杂性,而且还有效地改善了阵列的旁瓣性能.仿真结果证明了该方法的有效性和鲁棒性.
