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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Main Author:	Dzul Dzailani, Dzul Dzaihan
Format:	Thesis
Language:	English
Published:	2024
Subjects:	Analytical methods used in the solution of physical problems
Online Access:	https://ir.uitm.edu.my/id/eprint/105924/1/105924.pdf
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id	my-uitm-ir.105924
record_format	uketd_dc
spelling	my-uitm-ir.1059242024-11-30T23:08:49Z Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani 2024 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 https://ir.uitm.edu.my/id/eprint/105924/ https://ir.uitm.edu.my/id/eprint/105924/1/105924.pdf text en public degree Universiti Teknologi MARA, Terengganu College of Computing, Informatics and Media Zull Pakkal, Norhaslinda
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
advisor	Zull Pakkal, Norhaslinda
topic	Analytical methods used in the solution of physical problems
spellingShingle	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
qualification_level	Bachelor degree
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
granting_institution	Universiti Teknologi MARA, Terengganu
granting_department	College of Computing, Informatics and Media
publishDate	2024
url	https://ir.uitm.edu.my/id/eprint/105924/1/105924.pdf
_version_	1818588161893203968

Three-term Conjugate Gradient using strong wolfe line search for robotic motion / Dzul Dzaihan Dzul Dzailani

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