多目标演化算法的收敛性研究

基于群体搜索的演化算法求解多目标优化问题有独特的优势，多目标演化算法已有的研究大多为算法的设计和数值试验效果的比较，理论研究往往被忽视．该文讨论了多目标演化算法的收敛性问题，针对一种网格化的简单易于实现的多目标演化算法模型定义了多目标演化算法强收敛和弱收敛等概念，给出了判断算法收敛性的一般性条件；在变异算子为高斯变异、目标函数连续的条件下，证明了提出的算法强收敛．数值实验验证了算法的可行性和有效性．     

基于分布估计算法的多目标优化

论述解决多目标优化问题的若干解法,为了提高多目标优化算法的收敛性和求解精度,提出了一种分布估计的多目标优化算法。给出了3个典型的测试函数的pateto解集。通过4个测试函数测试,并与非劣排序多目标遗传算法(NSGA-Ⅱ)和规则模型分布估计算法(RM-MEDA)两个算法进行了比较。测试结果表明,该算法具有良好的收敛性和分布性,并且效果稳定。     

免疫标准化正规化约束方法及其应用

为了加快准化正规化约束(normalized normal constraint,简称NNC)方法求解多目标优化问题的速度,将免疫算法与NNC方法相结合提出了基于免疫算法的NNC方法,简称免疫NNC(IANNC)方法.该方法利用免疫算法中的免疫接种技术,从相邻的乌托邦面上的点对应的单目标优化问题的优化过程中提取疫苗,对初始抗体群进行疫苗接种;使用克隆选择算法求解NNC方法中的单目标优化问题,进而使IANNC方法能够更快的获得多目标优化问题的Pareto解集.之后对IANNC方法的收敛性进行了分析.最后应用IANNC方法对冷连轧轧制规程进行多目标优化,结果表明与基于遗传算法的NNC方法相比,IANNC方法用较少的运行时间获得了更好的冷连轧轧制规程多目标优化问题的Pareto解集.     

多目标优化遗传算法的收敛性定义及实例研究

寻找非劣解集合是遗传算法求解多目标优化问题的目标，而标准的遗传算法收敛性分析方法对多目标遗传算法的分析并不合适。本文利用有限马尔科夫链给出了遗传算法求解多目标优化问题的两个收敛性定义，并给出了一个实例研究及进一步的工作计划。     

一种维持种群多样性的多目标差分演化算法

差分演化算法是一种简单而有效的全局优化算法。本文将差分演化算法用于求解多目标优化问题,给出了一种维持种群多样性的多目标差分演化算法。该算法采用正交设计法初始化种群,改进差分演化算子,从而有利于维持种群多样性,提高演化算法的搜索性能。初步实验表明,新算法能有效地求解多目标优化问题。     

一种基于粒子群算法的改进多目标文化算法

提出一种基于粒子群算法的改进多目标文化算法并用于求解多目标优化问题.算法中群体空间采用多目标粒子群优化算法进行演化;信念空间通过对形势知识、规范化知识和历史知识的重新定义使之符合多目标优化问题;信念空间和群体空间的交互通过自适应的接受操作和影响操作来实现.若干多目标标准测试函数的仿真结果表明,改进多目标文化算法能够在保持Pareto解集多样性的同时具有较好的均匀性和收敛性.     

基于蚁群算法的多目标优化

针对多目标优化问题,提出一种用于求解多目标优化问题的蚁群算法。该算法定义连续空间内求解多目标优化问题的蚁群算法的信息素更新方式,根据信息素的概率转移和随机选择转移策略指导蚂蚁进行搜索,保证获得的Pareto前沿的均匀性以及Pareto解集的多样性。对算法的收敛性进行分析,利用2个测试函数验证算法的有效性。     

极大熵和声搜索算法求解多目标优化*

给出了求解多目标优化问题的一个新算法。首先利用极大熵函数,将多目标优化问题转换为一个单目标优化问题;然后利用和声搜索算法对其进行求解,进而得到多目标优化问题的有效解。该算法对目标函数的解析性质没有要求且容易实现,数值结果表明了该方法是有效的。     

基于ε占优的正交多目标差分演化算法研究

演化多目标优化是目前演化计算中热门研究方向之一.但是,要设计一种高效、鲁棒的演化多目标优化算法,使其找到接近最优和完整的非劣解集是一项很困难的任务.为了能有效求解多目标优化问题,提出了一种新的多目标差分演化算法.新算法具有如下特征:1)利用正交实验设计和连续空间量化的方法产生初始群体,使得初始群体中的个体可以均匀分布于搜索空间,并且可以使好的个体在演化过程中得到利用;2)采用Archive群体保存非劣解,并利用ε占优方法更新Archive群体,从而可以使算法较快获得分布很好的Pareto解集;3)为了加快算法收敛,提出一种基于随机选择和精英选择的混合选择机制.通过8个标准测试函数对新算法进行测试,并与其他一些多目标演化算法进行比较,其结果表明新算法可以有效逼近真实Pareto前沿且分布均匀,并且在收敛性和多样性的求解精度和稳     

基于遗传算法求解多目标优化问题Pareto前沿

该文给出了传统的求解多目标优化方法存在的问题,引入了当前研究多目标优化的新方法———基于遗传算法求解问题的pareto解,讨论了该方法要解决的关键问题———多样性保持及解决策略,并给出了一个求解pareto解集的新算法,算法简单、高效、鲁棒性强。最后给出了实验结果。     

Parametric optimal control for uncertain linear quadratic models

In recent few decades, linear quadratic optimal control problems have achieved great improvements in theoretical and practical perspectives. For a linear quadratic optimal control problem, it is well known that the optimal feedback control is characterized by the solution of a Riccati differential equation, which cannot be solved exactly in many cases, and sometimes the optimal feedback control will be a complex time-oriented function. In this paper, we introduce a parametric optimal control problem of uncertain linear quadratic model and propose an approximation method to solve it for simplifying the expression of optimal control. A theorem is given to ensure the solvability of optimal parameter. Besides, the analytical expressions of optimal control and optimal value are derived by using the proposed approximation method. Finally, an inventory-promotion problem is dealt with to illustrate the efficiency of the results and the practicability of the model.     

The piecewise parametric optimal control of uncertain linear quadratic models

The optimal control of linear quadratic model is given in a feedback form and determined by the solution of a Riccati equation. However, the control-related Riccati equation usually cannot be solved analytically such that the form of optimal control will become more complex. In this paper, we consider a piecewise parametric optimal control problem of uncertain linear quadratic model for simplifying the form of optimal control. By introducing a piecewise control parameter, a piecewise parametric optimal control model is established. Then we present a parametric optimisation method for solving the optimal piecewise control parameter. Finally, an uncertain inventory-promotion optimal control problem is discussed and a comparison is made to show the effectiveness of proposed piecewise parametric optimal control model.     

Dual hierarchical genetic-optimal control: A new global optimal path planning method for robots

A new two-stage analytical-evolutionary algorithm considering dynamic equations is presented to find global optimal path. The analytical method is based on the indirect open loop optimal control problem and the evolutionary method is based on genetic algorithm (GA). Initial solutions, as start points of optimal control problem, are generated by GA to be used by optimal control. Then, a new sub-optimal path is generated through optimal control. The cost function is calculated for every optimal solution and the best solutions are chosen for the next step. The obtained path is used by GA to produce new generation of start points. This process continues until the minimum cost value is achieved. In addition, a new GA operator is introduced to be compatible with optimal control. It is used to select the pair chromosomes for crossover. The proposed method eliminates the problem of optimal control (being trapped in locally optimal point) and problem of GA (lack of compatibility with analytical dynamic equations). Hence problem is formulated and verification is done by comparing the results with a recent work in this area. Furthermore effectiveness of the method is approved by a simulation study for spatial non-holonomic mobile manipulators through conventional optimal control and the new proposed algorithm.     

Lossless convexification of a class of optimal control problems with non-convex control constraints

We consider a class of finite time horizon optimal control problems for continuous time linear systems with a convex cost, convex state constraints and non-convex control constraints. We propose a convex relaxation of the non-convex control constraints, and prove that the optimal solution of the relaxed problem is also an optimal solution for the original problem, which is referred to as the lossless convexification of the optimal control problem. The lossless convexification enables the use of interior point methods of convex optimization to obtain globally optimal solutions of the original non-convex optimal control problem. The solution approach is demonstrated on a number of planetary soft landing optimal control problems.     

基于马氏决策过程的概率离散事件系统最优控制

使用马氏决策过程研究了概率离散事件系统的最优控制问题.首先,通过引入费用函数、目标函数以及最优函数的定义,建立了可以确定最优监控器的最优方程.之后,又通过此最优方程获得了给定语言的极大可控、∈-包含闭语言.最后给出了获得最优费用与最优监控器的算法.     

From human to humanoid locomotion—an inverse optimal control approach

The purpose of this paper is to present inverse optimal control as a promising approach to transfer biological motions to robots. Inverse optimal control helps (a) to understand and identify the underlying optimality criteria of biological motions based on measurements, and (b) to establish optimal control models that can be used to control robot motion. The aim of inverse optimal control problems is to determine—for a given dynamic process and an observed solution—the optimization criterion that has produced the solution. Inverse optimal control problems are difficult from a mathematical point of view, since they require to solve a parameter identification problem inside an optimal control problem. We propose a pragmatic new bilevel approach to solve inverse optimal control problems which rests on two pillars: an efficient direct multiple shooting technique to handle optimal control problems, and a state-of-the art derivative free trust region optimization technique to guarantee a match between optimal control problem solution and measurements. In this paper, we apply inverse optimal control to establish a model of human overall locomotion path generation to given target positions and orientations, based on newly collected motion capture data. It is shown how the optimal control model can be implemented on the humanoid robot HRP-2 and thus enable it to autonomously generate natural locomotion paths.     

最优预见伺服系统与最优预见FF补偿系统的统一处理

最优预见伺服系统一般与基本最优伺服系统共用同一个二次型性能指标函数设 计预见前馈补偿项,其设计的着眼点是进一步减小性能指标函数.当控制系统的基本反馈部 分不是采用最优控制方法设计时,历史上采用另一个性能指标函数设计预见前馈补偿,并把 所得系统称为预见FF(前馈)补偿系统.这里把两种设计方法统一起来处理后,不仅最优预见 伺服系统与最优预见FF补偿系统都仅仅是特例,而且给设计者扩大了选择的余地.最后给 出了数值仿真,把这种设计方法与最优伺服系统、最优预见伺服系统进行了比较.     

“Optimal” Hopfield network for combinatorialoptimization with linear cost function

An "optimal" Hopfield network is presented for combinatorial optimization problems with linear cost function. It is proved that a vertex of the network state hypercube is asymptotically stable if and only if it is an optimal solution to the problem. That is, one can always obtain an optimal solution whenever the network converges to a vertex. In this sense, this network can be called the "optimal" Hopfield network. It is also shown through simulations of assignment problems that this network obtains optimal or nearly optimal solutions more frequently than other familiar Hopfield networks.     

Optimal Decoupling Control Method and Its Application to a Ball Mill Coal-pulverizing System

The conventional optimal tracking control method cannot realize decoupling control of linear systems with a strong coupling property. To solve this problem, in this paper, an optimal decoupling control method is proposed, which can simultaneously provide optimal performance. The optimal decoupling controller is composed of an inner-loop decoupling controller and an outer-loop optimal tracking controller. First, by introducing one virtual control variable, the original differential equation on state is converted to a generalized system on output. Then, by introducing the other virtual control variable, and viewing the coupling terms as the measurable disturbances, the generalized system is open-loop decoupled. Finally, for the decoupled system, the optimal tracking control method is used. It is proved that the decoupling control is optimal for a certain performance index. Simulations on a ball mill coal-pulverizing system are conducted. The results show the effectiveness and superiority of the proposed method as compared with the conventional optimal quadratic tracking (LQT) control method.      

Scenario driven optimal sequencing under deep uncertainty

The optimal sequencing/scheduling of activities is vital in many areas of environmental and water resources planning and management. In order to account for deep uncertainty surrounding future conditions, a new optimal scheduling approach is introduced in this paper, which consists of three stages. Firstly, a portfolio of diverse sequences that are optimal under a range of plausible future conditions is generated. Next, global sensitivity analysis is used to assess the robustness of these sequences and to determine the relative contribution of future uncertain variables to this robustness. Finally, an optimal sequence is selected for implementation. The approach is applied to the optimal sequencing of additional potential water supply sources, such as desalinated-, storm- and rain-water, for the southern Adelaide water supply system, over a 40 year planning horizon at 10-year intervals. The results indicate that the proposed approach is useful in identifying optimal sequences under deep uncertainty.