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

Yinyan Zhang, Gang Xiao and Shuai Li

International Journal of Systems Science, 2023, vol. 54, issue 4, 717-730

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.

Date: 2023
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2022.2141594 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:54:y:2023:i:4:p:717-730

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2022.2141594

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().