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Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators

Yinyan Zhang, Gang Xiao, Shuai Li Orcid Logo

International Journal of Systems Science, Volume: 54, Issue: 4, Pages: 1 - 14

Swansea University Author: Shuai Li Orcid Logo

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DOI (Published version): 10.1080/00207721.2022.2141594

Abstract

The primal-dual gradient dynamics is a broadly investigated approach for handling optimisation problems. In this paper, we provide an extension of such dynamics under the adaptive updating framework for solving equality-constrained quadratic programmes. We show that the performance of the proposed m...

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Published in: International Journal of Systems Science
ISSN: 0020-7721 1464-5319
Published: Informa UK Limited 2022
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa61755
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Abstract: The primal-dual gradient dynamics is a broadly investigated approach for handling optimisation problems. In this paper, we provide an extension of such dynamics under the adaptive updating framework for solving equality-constrained quadratic programmes. We show that the performance of the proposed method is theoretically guaranteed and it has asymptotic convergence to the solution of the optimisation problem and the minimum inter-event time is non-trivial. A numerical example and an application show the effectiveness and advantages of the proposed method.
Keywords: Quadratic optimisation; primal-dual gradient dynamics; kinematic control; redundant robot manipulators
College: Faculty of Science and Engineering
Funders: This work was supported in part by the National Natural Science Foundation of China [grant number 62206109], and the Natural Science Foundation of Guangdong Province [grant number 2022A1515010976].
Issue: 4
Start Page: 1
End Page: 14

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