TITLE:
A Novel Stochastic Algorithm Using Pythagorean Means for Minimization
AUTHORS:
Mona Subramaniam, Manju Senthil, Madhav Nigam
KEYWORDS:
Stochastic Algorithm, Pythagorean Means, Gain Tuning, Fuzzy Controller, Genetic Algorithm, PUMA560 Trajectory Control, Robotics
JOURNAL NAME:
Intelligent Control and Automation,
Vol.1 No.2,
November
26,
2010
ABSTRACT: In this paper, A Novel Stochastic Algorithm using Pythagorean means for minimization of the objective function is described. The algorithm is initially tested with Rastrigin’s function and compared with Genetic algorithm results for the function with the same initial conditions. After this, it is used in tuning the gains of fuzzy PD + I controller for trajectory control of PUMA 560 robot manipulator. The results are again verified with the results of genetic algorithm.