An Efficient Conjugate Gradient Method Based on the Conjugacy Condition with an Application in Motion Control

Abstract

In this paper, we propose a new conjugate gradient method where the generated search direction satisfies the sufficient descent condition. Also, the calculation of the new conjugate gradient parameter incorporates the use of the conjugacy condition. Global convergence is established under the strong Wolfe line search and numerical experiments demonstrate the effectiveness and efficiency of the proposed method. Furthermore, the method is used to solve a problem involving motion control of a 2-DOF (degrees of freedom) robotic arm, underscoring its practicality in real-world applications.