A new generalized quasi-Newton algorithm based on structured diagonal Hessian approximation for solving nonlinear least-squares problems with application to 3DOF planar robot arm manipulator

บทความในวารสาร

ผู้เขียน/บรรณาธิการ

กลุ่มสาขาการวิจัยเชิงกลยุทธ์

รายละเอียดสำหรับงานพิมพ์

รายชื่อผู้แต่ง: Yahaya M.M., Kumam P., Awwal A.M., Chaipunya P., Aji S., Salisu S.

ผู้เผยแพร่: Institute of Electrical and Electronics Engineers

ปีที่เผยแพร่ (ค.ศ.): 2022

Volume number: 10

หน้าแรก: 10816

หน้าสุดท้าย: 10826

จำนวนหน้า: 11

นอก: 2169-3536

eISSN: 2169-3536

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85123736432&doi=10.1109%2fACCESS.2022.3144875&partnerID=40&md5=6d64207e0cb2a6dab15750baa237f640

ภาษา: English-Great Britain (EN-GB)

ดูในเว็บของวิทยาศาสตร์ | ดูบนเว็บไซต์ของสำนักพิมพ์ | บทความในเว็บของวิทยาศาสตร์

บทคัดย่อ

Many problems in science and engineering can be formulated as nonlinear least-squares (NLS) problems. Thus, the need for efficient algorithms to solve these problems can not be overemphasized. In that sense, we introduce a generalized structured-based diagonal Hessian algorithm for solving NLS problems. The formulation associated with this algorithm is essentially a generalization of a similar result in Yahaya et al. (Journal of Computational and Applied Mathematics, pp. 113582, 2021). However, in this work, the structured diagonal Hessian update is derived under a weighted Frobenius norm; this allows other choices of the weighted matrix analogous to the Davidon-Fletcher-Powell (DFP) method. Moreover, to theoretically fill the gap in Yahaya et al. (Journal of Computational and Applied Mathematics, pp. 113582, 2021), we have shown that the proposed algorithm is R-linearly convergent under some standard conditions devoid of any safeguarding strategy. Furthermore, we experimentally tested the proposed scheme on some standard benchmark problems in the literature. Finally, we applied this algorithm to solve robotic motion control problem consisting of 3DOF (degrees of freedom). Author

คำสำคัญ

Approximation algorithms, diagonal updating, least change secant, quasi-Newton, robotic motion control, Robot motion, Taylor series