基于层次遗传算法的遥控控制器设计

Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482) Pub Date : 2000-01-19 DOI:10.1109/ICIT.2000.854256

K. Tang, K. Man, R. Istepanian

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引用次数: 10

摘要

采用层次遗传算法(HGA)设计了显微外科远程操作系统的H/sub /spl / infin//控制器。这种HGA能够同时搜索到H/sub /spl的结构及其系数。一个多目标排名方案也被纳入其中，这样在任何严格被动的环境下，部队和位置的透明度都得到了优化。

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Teleoperation controller design using hierarchical genetic algorithm

Hierarchical genetic algorithm (HGA) is formulated to design the H/sub /spl infin// controller for the teleoperation system used in microsurgery. Such a HGA is capable of searching the structure of the H/sub /spl infin// and its coefficients simultaneously. A multiple objective ranking scheme is also incorporated so that both the force and position transparency are optimized against any strictly passive environment.

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Proceedings of IEEE International Conference on Industrial Technology 2000 (IEEE Cat. No.00TH8482)

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