Research Article

Active Disturbance Rejection Attitude Control for Hypersonic Vehicle Based on Intelligent Stochastic Robust Optimization Method

Algorithm 1

Pseudocode of the DE algorithm with combined mutation strategy.
Definition:
: the population size;
: the maximum number of generations for stopping criterion;
: dimension of the problem;
: the decision matrix with the size of ;
: the function value vector with the size of  1;
: the learning rate for conventional mutation strategy.
(1)BEGIN
(2)Set mutation probability and learning rate ;
(3)Create a randomly initialized population {};
(4)Let ;
(5)while do
(6)while do
(7)  Locate in X and obtain its nearest superior neighbors and inferior neighbors , with ;
(8)  Select as the tournament best from () and as the tournament worst from (), with ;
(9)  Select as the ;
(10)  Generate three random values , , and , where , , and ;
(11)  Compute the convex combination vector weights , , and , according to ;
(12)  Obtain the combination vector: ;
(13)  Generate the random values , , and , where , , and again;
(14)  Compute the learning rates , , and , according to ;
(15)  ifthen
(16)   The triangular mutation vector ;
(17)  else
(18)   The conventional mutation vector ;
(19)  end if
(20)  Repair if it violates the upperbound or lowerbound;
(21)  Generate ;
(22)  whiledo
(23)   if or then
(24)    ;
(25)   else
(26)    ;
(27)   end if
(28)  end while
(29)  if then
(30)   ;
(31)   if then
(32)    ;
(33)   end if
(34)  else
(35)   ;
(36)  end if
(37)end while
(38)end while
(39)Return;
(40)END