Optimal design of model predictive controller based on transient search optimization applied to robotic manipulators

A hierarchical chain-based Archimedes optimization algorithm

The Archimedes optimization algorithm (AOA) has attracted much attention for its few parameters and competitive optimization effects. However, all agents in the canonical AOA are treated in the same way, resulting in slow convergence and local optima. To solve these problems, an improved hierarchical chain-based AOA (HCAOA) is proposed in this paper. The idea of HCAOA is to deal with individuals at different levels in different ways. The optimal individual is processed by an orthogonal learning mechanism based on refraction opposition to fully learn the information on all dimensions, effectively avoiding local optima. Superior individuals are handled by an Archimedes spiral mechanism based on Levy flight, avoiding clueless random mining and improving optimization speed. For general individuals, the conventional AOA is applied to maximize its inherent exploration and exploitation abilities. Moreover, a multi-strategy boundary processing mechanism is introduced to improve population diversity. Experimental outcomes on CEC 2017 test suite show that HCAOA outperforms AOA and other advanced competitors. The competitive optimization results achieved by HCAOA on four engineering design problems also demonstrate its ability to solve practical problems.