Legendre Cooperative PSO Strategies for Trajectory Optimization

Pseudocode 1

Pseudocode of CPSO.

Input (number of cooperation iteration),

    (number of cooperation iteration),

    (subswarm size),

   , and (the parameters of interval analysis) are given from outer iteration.

Initialize () and ()

For cooperation iteration

 For each subswarm iteration

  For each particle

   If ( mod 2 > 0)  

    Else

   End If

   To run Runge-Kutta numeric integration and evaluate performance function by using Equ. (9).

   If ()

     ,

   Else If ()

   ,

   End If

   To update the particle by using Equ. (10), Equ. (11).

  End For

 End For

 If mod

   To update

 Else To update (

 End If

End For