Force Optimization of Elongated Undulating Fin Robot Using Improved PSO-Based CPG

Table 2

The tested five math functions.

Function name	Equation	Variable range	Extreme value	MSE
Beale		[−10, 10]		8.11E − 05
Levi		[−10, 10]		0.000928
Booth		[−10, 10]		0.000389
Sphere		[−20, 20]		3.37E − 15
Ackley		[−20, 20]		2.80E − 12