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

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  • Yinyan Zhang
  • Gang Xiao
  • Shuai Li

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.

Suggested Citation

  • Yinyan Zhang & Gang Xiao & Shuai Li, 2023. "Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators," International Journal of Systems Science, Taylor & Francis Journals, vol. 54(4), pages 717-730, March.
    • Handle: RePEc:taf:tsysxx:v:54:y:2023:i:4:p:717-730
    DOI: 10.1080/00207721.2022.2141594
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