The Multiobjective Optimization of Mechatronical System of Single Manipulator Based on Pareto GA.

The integrated structure/control modeling of single-manipulator and concurrent optimal methodology for multiobjective were studied. According to the requirement of dynamical and control stability performance, the optimal model with multiobjective and constraints was proposed by combination of the dynamics of flexible structure and poles configuration, and solved by Pareto GA (PGA). In the process of PGA optimization, the technique of regularization of objectives, graded penalized function technique to remove constraints, Pareto-rank of population and Pareto set filter are used. To protect the feature and multiformity of Pareto set, a clustering analysis technique is used to limit the number of individual in Pareto set. [ABSTRACT FROM AUTHOR]