基于共轭条件的高效共轭梯度法及其在运动控制中的应用

IF 1.4 4区综合性期刊 Q2 MULTIDISCIPLINARY SCIENCES

Iranian Journal of Science and Technology, Transactions A: Science Pub Date : 2025-04-08 DOI:10.1007/s40995-025-01805-1

T. Diphofu, P. Kaelo

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引用次数: 0

摘要

本文提出了一种新的共轭梯度法，其中生成的搜索方向满足充分下降条件。此外，新的共轭梯度参数的计算结合了共轭条件的使用。在强Wolfe线搜索下建立了全局收敛性，数值实验证明了该方法的有效性和高效性。此外，将该方法用于解决涉及二自由度机械臂运动控制的问题，强调了其在实际应用中的实用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

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.

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来源期刊

Iranian Journal of Science and Technology, Transactions A: Science MULTIDISCIPLINARY SCIENCES-

CiteScore

4.00

自引率

5.90%

发文量

122

审稿时长

>12 weeks

期刊介绍： The aim of this journal is to foster the growth of scientific research among Iranian scientists and to provide a medium which brings the fruits of their research to the attention of the world’s scientific community. The journal publishes original research findings – which may be theoretical, experimental or both - reviews, techniques, and comments spanning all subjects in the field of basic sciences, including Physics, Chemistry, Mathematics, Statistics, Biology and Earth Sciences