In the industry, Multi-objectives problems are a big defy and they are also hard to be conquered by conventional methods. For this reason, heuristic algorithms become an executable choice when facing this kind of problems. The main... more
In the industry, Multi-objectives problems are a big defy and they are also hard to be conquered by conventional methods. For this reason, heuristic algorithms become an executable choice when facing this kind of problems. The main objective of this work is to investigate the use of the Non-dominated Sorting Genetic Algorithm II (NSGA-II) technique using the real valued recombination and the real valued mutation in the tuning of the computed torque controller gains of a PUMA560 arm manipulator. The NSGA-II algorithm with real valued operators searches for the controller gains so that the six Integral of the Absolute Errors (IAE) in joint space are minimized. The implemented model under MATLAB allows an optimization of the Proportional-Derivative computed torque controller parameters while the cost functions and time are simultaneously minimized.. Moreover, experimental results also show that the real valued recombination and the real valued mutation operators can improve the performance of NSGA-II effectively.
Bat Algorithm (BA), is a relatively new nature inspired metaheuristic algorithm, which works on the echolocation capabilities of micro-bats. Although being highly efficient, it suffers from pre-mature convergence. To overcome this... more
Bat Algorithm (BA), is a relatively new nature inspired metaheuristic algorithm, which works on the echolocation capabilities of micro-bats. Although being highly efficient, it suffers from pre-mature convergence. To overcome this limitation, this paper proposes a multimodal variant of BA, called Multi-Modal Bat Algorithm (MMBA), which includes the foraging behaviour of bats. The standard BA exhibits a random movement for catching its prey. This work also proposes an enhancement to these exploration capabilities of bat, called Bat Algorithm with Improved Search (BAIS). Each of these variants is tested for its efficacy against BA over 30 benchmark functions. An integration of both these modifications, the Multi-Modal Bat Algorithm with Improved Search (MMBAIS), is also subsequently compared against the same 30 benchmark functions. Results established the superiority of MMBAIS over BA. Experimental comparison of MMBAIS with a recent variant of BA also revealed the efficiency of MMBAIS.
