Fractional order dynamics in a GA planner

This work addresses the signal propagation and the fractional-order dynamics during, the evolution of a genetic algorithm (GA), for generating a robot manipulator trajectory. The GA objective is to minimize the trajectory space/time ripple without exceeding the torque requirements. In order to investigate the phenomena involved in the GA population evolution, the mutation is exposed to excitation perturbations and the corresponding 6tness variations are evaluated. The chaos-like noise and the input/output signals are studied revealing a fractional-order dynamics, characteristic of a long-term system memory. ? 2003 Elsevier B.V. All rights reserved.