| 基于NSGA-Ⅱ的IPMC机器鱼动态多目标相容优化控制 |
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| 引用本文： | 胡庆松,徐立鸿,Erik Goodman.基于NSGA-Ⅱ的IPMC机器鱼动态多目标相容优化控制[J].系统仿真学报,2011,23(9):1925-1931. |
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| 作者姓名： | 胡庆松 徐立鸿 Erik Goodman |
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| 作者单位： | 上海海洋大学工程学院,上海,201306 |
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| 基金项目： | 上海市自然科学基金(11ZR1415600); 国家自然科学基金(60674070); 上海海洋大学博士启动基金(A-2400-09-0150); 上海市高校选拔培养优秀青年教师科研专项基金(ssc09011) |
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| 摘 要： | 实际控制问题中往往有多个控制目标需要兼顾,且多个目标通常情况下是冲突的。根据相邻控制步之间系统状态和控制输入的连续性,提出了一个基于NSGA-II的动态迭代多目标相容优化控制算法,并且这一算法有能力处理目标空间为非凸的控制问题和提高在线优化速度。考虑到IPMC驱动机器鱼在运行过程中能耗和速度两个关键且冲突的目标,建立IMPC驱动机器鱼的运动及能耗模型,将所提算法进行了应用。仿真结果表明了控制算法的有效性及其在慢复杂系统动态控制中的应用潜力。
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| 关 键 词： | 多目标控制 迭代遗传算法 NSGA-Ⅱ IPMC机器鱼 |
Dynamic Multi-objective Compatible Control of IPMC Propelled Robotic Fish Based on NSGA-Ⅱ |
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| HU Qing-song,XU Li-hong,Erik Goodman.Dynamic Multi-objective Compatible Control of IPMC Propelled Robotic Fish Based on NSGA-Ⅱ[J].Journal of System Simulation,2011,23(9):1925-1931. |
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| Authors: | HU Qing-song XU Li-hong Erik Goodman |
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| Affiliation: | HU Qing-song1,XU Li-hong2,Erik Goodman3(1.Engineering College,Shanghai Ocean University,Shanghai 201306,China,2.Department of Control Science and Technology,Tongji University,Shanghai 200092,3.Department of Electrical and Computer,Michigan State University,MI 48823,USA) |
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| Abstract: | It is popular that there exists multiple objectives in practical control system,and these objectives are usually competitive.Based on the tight relation between the system states of the neighboring sampling instants,a dynamic iterative multi-objective control algorithm based on NSGA-II was proposed,which could cope with nonconvex control problem as well as improve the computing speed.Considering the two key and conflicting objectives-speed and energy consumption,the robotic fish velocityand engery consumpti... |
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| Keywords: | multi-objective control iterative genetic algorithm NSGA-II IPMC robotic fish |
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