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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
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URI: https://cronfa.swan.ac.uk/Record/cronfa61755
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first_indexed 2022-11-01T17:15:39Z
last_indexed 2023-01-27T04:15:43Z
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spelling v2 61755 2022-11-01 Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2022-11-01 MECH 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. Journal Article International Journal of Systems Science 54 4 1 14 Informa UK Limited 0020-7721 1464-5319 Quadratic optimisation; primal-dual gradient dynamics; kinematic control; redundant robot manipulators 7 11 2022 2022-11-07 10.1080/00207721.2022.2141594 COLLEGE NANME Mechanical Engineering COLLEGE CODE MECH Swansea University SU Library paid the OA fee (TA Institutional Deal) 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]. 2023-06-12T17:06:13.6274812 2022-11-01T17:13:59.0215728 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Yinyan Zhang 1 Gang Xiao 2 Shuai Li 0000-0001-8316-5289 3 61755__25869__35e987a73b8a4538a7efd5d2889ad01e.pdf 61755.pdf 2022-11-22T08:50:01.1516265 Output 2263227 application/pdf Version of Record true © 2022 The Author(s). This is an Open Access article distributed under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives License true eng http://creativecommons.org/licenses/by-nc-nd/4.0/
title Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators
spellingShingle Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators
Shuai Li
title_short Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators
title_full Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators
title_fullStr Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators
title_full_unstemmed Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators
title_sort Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators
author_id_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Shuai Li
author2 Yinyan Zhang
Gang Xiao
Shuai Li
format Journal article
container_title International Journal of Systems Science
container_volume 54
container_issue 4
container_start_page 1
publishDate 2022
institution Swansea University
issn 0020-7721
1464-5319
doi_str_mv 10.1080/00207721.2022.2141594
publisher Informa UK Limited
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 1
active_str 0
description 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.
published_date 2022-11-07T17:06:11Z
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score 11.012678

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