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This paper suggests a methodology to realize fractional order impedance using feedback control of a motor, which can be called fractional impedance control. First, a novel discretization method of a fractional order integrator is proposed based on the coefficient fitting by particle swarm optimization. Based on this fractional order integrator, fractional order impedance control is realized using...
Fractional order impedance control is proposed in this paper to control power assistive devices in more human friendly way. A novel discretization method of a fractional order integrator is proposed based on a multirate filter approach. Optimal coefficients for the multirate fractional order integrator are decided using golden-ratio particle swarm optimization. Based on this fractional order integrator,...
We have proposed a modified PSO; GPSO (golden-section-search driven particle swarm optimization) which updates only one particle in a generation based on a strategy: golden section search and steepest descent method. It was proved to be effect in various optimization problem. In this paper, first, this GPSO is revised to make clear its effectiveness. Then, the GPSO is utilized to optimize control...
This article proposes an improved version of particle swarm optimization (PSO) algorithm where one or two particles are moving with a strategy: golden section search and steepest descent method. We clarify the excellence of the proposed algorithm using some benchmark problems and examine what kind of problems the proposed algorithm is adequate for. This algorithm is developed with the aim to be applied...
The particle swarm optimization (PSO), although it has been widely used in various fields, has a step-size problem, which deteriorates optimization performance. This problem is resolved using the golden section search (GSS) and the steepest descent method. We also design a filter that will improve optimization performance of the proposed algorithm. The effectiveness of the proposed algorithm, including...
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