Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani
Optimization involves with finding the optimal solution of the objective function. Conjugate gradient (CG) method is known as one of best the optimization method for solving unconstrained optimization problems. CG method is implemented in various application such as robotic motion, image restoration...
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my.uitm.ir.1059242024-11-30T23:08:49Z https://ir.uitm.edu.my/id/eprint/105924/ Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani Dzul Dzailani, Dzul Dzaihan Analytical methods used in the solution of physical problems Optimization involves with finding the optimal solution of the objective function. Conjugate gradient (CG) method is known as one of best the optimization method for solving unconstrained optimization problems. CG method is implemented in various application such as robotic motion, image restoration and regression analysis. CG is classified into few classifications such as scaled, three-term and hybrid CG methods. This research focuses on the performance of three term CG method (TTCG) under strong Wolfe line search and its applicability in robotic motion control. The performance of four TTCG methods, TTLAMR, TTRMIL, TTSMAR, and TTKMAR coefficients are tested using 15 standard test functions with different initial points and variables ranging from 2 to 10,000. The numerical results are computed based on number of iteration (NOI) and CPU time. These results are plotter using performance profile in order to evaluate its efficiency and robustness. Numerically, TTLAMR outperforms other methods by solving all test functions and it is followed by TTSMAR (99.38%), TTRMIL (97.84%), and TTKMAR (93.83%). Lastly, TTLAMR is implemented in robotic motion control. It shows that TTLAMR is able to effectively applied to the motion control of two joint planar robotic manipulators and the method has been applied to solve a practical problem of motion control 2024 Thesis NonPeerReviewed text en https://ir.uitm.edu.my/id/eprint/105924/1/105924.pdf Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani. (2024) Degree thesis, thesis, Universiti Teknologi MARA, Terengganu. |
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Analytical methods used in the solution of physical problems |
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Analytical methods used in the solution of physical problems Dzul Dzailani, Dzul Dzaihan Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani |
| description |
Optimization involves with finding the optimal solution of the objective function. Conjugate gradient (CG) method is known as one of best the optimization method for solving unconstrained optimization problems. CG method is implemented in various application such as robotic motion, image restoration and regression analysis. CG is classified into few classifications such as scaled, three-term and hybrid CG methods. This research focuses on the performance of three term CG method (TTCG) under strong Wolfe line search and its applicability in robotic motion control. The performance of four TTCG methods, TTLAMR, TTRMIL, TTSMAR, and TTKMAR coefficients are tested using 15 standard test functions with different initial points and variables ranging from 2 to 10,000. The numerical results are computed based on number of iteration (NOI) and CPU time. These results are plotter using performance profile in order to evaluate its efficiency and robustness. Numerically, TTLAMR outperforms other methods by solving all test functions and it is followed by TTSMAR (99.38%), TTRMIL (97.84%), and TTKMAR (93.83%). Lastly, TTLAMR is implemented in robotic motion control. It shows that TTLAMR is able to effectively applied to the motion control of two joint planar robotic manipulators and the method has been applied to solve a practical problem of motion control |
| format |
Thesis |
| author |
Dzul Dzailani, Dzul Dzaihan |
| author_facet |
Dzul Dzailani, Dzul Dzaihan |
| author_sort |
Dzul Dzailani, Dzul Dzaihan |
| title |
Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani |
| title_short |
Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani |
| title_full |
Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani |
| title_fullStr |
Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani |
| title_full_unstemmed |
Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani |
| title_sort |
three-term conjugate gradient using strong wolfe line search for robotic motion / dzul dzaihan dzul dzailani |
| publishDate |
2024 |
| url |
https://ir.uitm.edu.my/id/eprint/105924/1/105924.pdf https://ir.uitm.edu.my/id/eprint/105924/ |
| _version_ |
1817847337819570176 |
| score |
13.223943 |