Forward Kinematics of Six-DOF Parallel Robot Based on Adaptive Differential Evolution

A novel trajectory optimization technique has been proposed in this paper to generate reference trajectory for Satellite Launch Vehicle (SLV). For this purpose, a suitable objective function has been formulated subsuming parameters like height, velocity, injection angle and payload mass. The contribution of these parameters in evolving the objective function has been represented by assigning different weighting factors against the different parameters. Moreover, optimal selection of the setting of parameters has also been achieved by proper optimization of the weighting factors associated with the objective function. In the next step, an attempt has been made to optimize the objective function using the existing Differential Evolution (DE) scheme. As an enhancement of this work, a novel Self Adaptive Differential Evolution (SADE) algorithm has been proposed to optimize the trajectory in a more effective manner. Finally, a comparative study has been presented between the proposed SADE based design and the existing DE based design.

A novel economic dispatch of energy-renewable multi-area power systems with group-based differential evolution

JADE is an state-of-the-art adaptive differential evolution algorithm which implements “DE/current-to-pbest” as its mutation strategy, adapts its mutation factor and crossover rate, and uses an optional external archive to keep track of potential removed individuals in previous generations. This paper proposes MPADE, which extends JADE by using a multi-populated approach to solve high dimensional real-parameter optimization problems. This mechanism helps preventing the two well-known problems affecting the differential evolution algorithm performance, which are premature convergence and stagnation. The algorithm was tested using the benchmark functions in IEEE Congress on Evolutionary Computation 2014 test suite. MPADE was compared using Wilcoxon test to JADE algorithm and with other state-of-the-art algorithms that either use a multi-population approach or adapt their parameters. The experimental results show that the proposed new algorithm improves significantly its precursor and it is also suggested that other state-of-the-art algorithms could benefit from the multi-populated based approach.

An effective coordination in an interconnected system can be obtained by ensuring proper settings of overcurrent relays. In this research work, the problem of coordinating the overcurrent relays is formulated as a non‐linear problem, taking into account the as discrete nature of time dial settings and the pickup current settings. An effective approach based on adaptive differential evolution (ADE) algorithm is proposed to solve the coordination problem. The results obtained by ADE are compared with different algorithms on different model test systems and found to be feasible, robust and efficient.

Multi-objective robust dynamic pricing and operation strategy optimization for integrated energy system based on stackelberg game

An improved adaptive differential evolution optimizer for non-convex Economic Dispatch Problems

In this paper, a new adaptive grouping differential evolution (AGDE) algorithm is proposed to improve the optimization performance by implementing a prediction strategy of the constraints for constrained optimization problems. It is unnecessary to calculate the constraint values when dealing with the constraints in this method. The constraints are handled after a simple prediction according to the Lipschitz condition. When the constraints are very complex, the load arisen from the calculation of the constraint values is reduced dramatically and the feasibility of the solutions remains with great probability. In AGDE algorithm, the population is dynamically grouped to three subpopulations with respective newly-designed mutation strategy. Meanwhile, the mutation factor and crossover probability are adopted associated with the evolutionary process according to the information of the entire population. Both of the above improvements not only increase the diversity of population and speed up the convergence, but also reduce the complexity of the parameter selection. Four sets of comparative experiments are carried out to evaluate the feasibility and effectiveness of the proposed method that deals with the constraints.

In this paper, a novel Adaptive Parameter Strategy Differential Evolution (APSDE) algorithm is proposed to overcome the parameters dependence and avoid local optima. The Parameter Update Mechanism (PUM), which has three different strategies, is used to reduce the dependence on parameters of DE. The Adaptive Proportion Adjustment Mechanism (APAM) is used to balance the proportion of PUM strategies in different development terms of exploitation and exploration, and the Random Restart Mechanism (RRM) is used to improve population diversity when exploitation is in stagnation. The proposed algorithm is verified in the CEC2018 test functions and the results show that APSDE has good abilities of exploitation, exploration, convergence, and stability. Secondly, Midcourse Guidance Maneuver Decision-making (MGMD) in Beyond Visual Range (BVR) air combat is studied and transformed into a single objective variational optimization problem, a MGMD system based on APSDE is established. Finally, the simulation of MGMD is carried out. The APSDE ranks first in the typical MGMD scenario experiment. In the adaptive Midcourse guidance confrontation, the winning rate of APSDE is 54%, and the statistical results show that the APSDE has an excellent MGMD ability.

Design of non-uniform linear antenna arrays is one of the most important electromagnetic optimization problems of current interest. In this article, an adaptive Differential Evolution (DE) algorithm has been used to optimize the spacing between the elements of the linear array to produce a radiation pattern with minimum side lobe level and null placement control. DE is arguably one of the best real parameter optimizers of current interest takes very few control parameters and is easy to implement in any programming language. In this study two very simple adaptation schemes are used to regulate the control parameters F and Cr, upon which the performance of DE is critically dependent. The adaptation schemes are based on the objective function values of the target vectors and donor vectors. The adaptive DE-variant has been used to solve three difficult instances of the design problem and the optimization goal in each example is easily achieved. The results of the proposed algorithm have been shown to meet or beat the recently published results obtained using other state-of-the-art metaheuristics like the Genetic Algorithm (GA), Particle Swarm Optimization (PSO), Memetic Algorithms (MA), and Tabu Search (TS) in a statistically meaningful way.

Multi-objective trajectory optimization of Space Manoeuvre Vehicle using adaptive differential evolution and modified game theory

Parameter fitting of PEMFC models based on adaptive differential evolution

This paper focuses on the berth allocation problem, which is to determine where and when the vessels to be loaded and unloaded at a terminal within a given planning horizon, with consideration of uncertain factors, mainly including the arrival and operation time of the calling vessels. Based on the concept of service level which is commonly used in the inventory system, a decision model is constructed to minimize the cost of baseline schedule, which includes delay cost and nonoptimal berthing location cost. According to the specific characteristics of the model, the upper and lower bounds are found. And due to the NP-hardness of the constructed model, an adaptive differential evolution is employed to solve the problem. Finally, extensive numerical experiments are conducted to test the performance of the proposed models and solution approaches.

With the growing demand for safe obstacle avoidance and precise trajectory tracking in the autonomous navigation of unmanned surface vessels (USVs), this paper investigates an adaptive differential evolution approach for integrated path planning and tracking control. In the path planning stage, an elite archive mechanism is first incorporated into the mutation process, and the scaling factor F and crossover rate CR are adaptively adjusted to enhance population diversity and global search capability. Then, the International Regulations for Preventing Collisions at Sea (COLREGs) are embedded into the algorithmic framework to reinforce collision avoidance performance in complex encounter scenarios. A multi-objective fitness function combining six performance criteria is subsequently constructed to evaluate individual path points, thereby identifying high-quality solutions that ensure both safe navigation and route efficiency. In the tracking control stage, the optimally generated reference trajectory is then employed as the input command for the vessel’s motion control subsystem. A fuzzy logic system is introduced to approximate unknown nonlinear dynamics, and an adaptive fuzzy logic controller is designed to guarantee accurate tracking of the planned path. Finally, simulation tests are used to show the algorithm’s efficiency and usefulness.

Multi-agent cooperative target tracking plays a significant role in distributed artificial intelligence for unmanned aerial vehicle (UAV) systems. Most existing tracking solutions using online path planning focus on general target trajectories. Such trajectories have strong regularity and are smooth with minimal fluctuations. However, in real UAV applications a target will change its trajectory frequently to prevent from being tracked, and thus its trajectory will fluctuate greatly and randomly. To this end, in this paper we consider a realistic scenario where the UAV target trajectory is changeable and random. For real-time target tracking, we formulate the tracking task as a distributed model predictive control (DMPC) problem, the objective of which is to optimize tracking performance under various constraints. To do so, we innovatively combine the adaptive differential evolution (ADE) algorithm with Nash optimization, and then propose a Nash-combined ADE method. Specifically, we use ADE to adaptively adjust the predicted trajectory of each UAV agent and Nash optimization to efficiently solve DMPC formulation for global optimization, which can improve the tracking accuracy and simultaneously reduce the computational complexity. The simulation results show that the proposed method performs well in terms of tracking accuracy, UAV collision avoidance and tracking stability for realistic target trajectories.

In this paper, approaches for the solution of parallel manipulators forward kinematics have been addressed. Current research on this topic has been analyzed to determine the status and unresolved issues of the research field. Articles on parallel manipulators forward kinematics were reviewed, and numerous approaches for resolving forward kinematics in particular have been identified and published, which may assist researchers in selecting the most appropriate technique for solving the problem in this domain. Researchers have also attempted to apply these methods to a variety of other parallel manipulator-related problems, such as inverse kinematics and dynamics. In robotics, serial manipulators were invented before parallel manipulators. Hence, methodologies for solving forward kinematics were first developed for serial manipulators and many methods are ineffective for parallel manipulators. In this paper, all identified methods can be used for solving forward kinematics of parallel and serial manipulators.