Legendre Cooperative PSO Strategies for Trajectory Optimization

Pseudocode 2

Pseudocode of interval analysis.

Input , S, R, ,

Initialize and by using Equ. (12),

For interval analysis iteration

 For each subinterval

  To update the switch instant by using Equ. (11).

  To perform CPSO and update

 End For

  To update

  To update .

End For r

To obtain the best position and the best fitness.