A noise-suppressing Newton-Raphson iteration algorithm for solving the time-varying Lyapunov equation and robotic tracking problems
文献类型：期刊论文
| 作者 | Wang, Guancheng1,3; Huang, Haoen1,3; Shi, Limei1; Wang, Chuhong1; Fu, Dongyang1,3; Jin, Long2; Xiao Xiuchun1,3 |
| 刊名 | INFORMATION SCIENCES
 |
| 出版日期 | 2021-03-01 |
| 卷号 | 550页码:239-251 |
| 关键词 | Time-varying Lyapunov equation Newton-Raphson iteration Noise suppressing Robotic tracking problems |
| ISSN号 | 0020-0255 |
| DOI | 10.1016/j.ins.2020.10.032 |
| 通讯作者 | Jin, Long(jinlongsysu@foxmail.com) |
| 英文摘要 | The Newton-Raphson iteration (NRI) algorithm is a prevalent computational methodology in many fields and can be used to solve the time-varying Lyapunov equation. However, the performance of the traditional NRI (TNRI) algorithm is severely degraded under noisy conditions. To overcome this weakness, a noise-suppressing NRI (NSNRI) algorithm is proposed in this paper. By utilizing the Kronecker product theorem, the time-varying Lyapunov equation can be transformed into a linear matrix equation. Based on that linear matrix equation, the related theoretical analyses of the convergence and the noisesuppressing property of the NSNRI algorithm under various noise conditions are provided. To verify the theoretical analyses, numerical simulations for solving the time-varying Lyapunov equation and an application to manipulator motion tracking are presented. For comparison purpose, the TNRI and two zeroing neural network (ZNN) algorithms are also introduced in these simulations. As indicated by the simulation results, the NSNRI algorithm is superior in terms of the convergence accuracy and the robustness to noise. (C) 2020 Elsevier Inc. All rights reserved. |
| 资助项目 | Innovation and Strength Project in Guangdong Province (Natural Science)[230419065] ; Key Lab of Digital Signal and Image Processing of Guangdong Province[2019GDDSIPL-01] ; Industry-University-Research Cooperation Education Project of Ministry of Education[201801328005] ; Guangdong Graduate Education Innovation Project, Graduate Summer School[2020SQXX19] ; Special Project in Key Fields of Universities in Department of Education of Guangdong Province[2019KZDZX1036] ; Guangdong Graduate Education Innovation Project, Graduate Academic Forum[2020XSLT27] ; Doctoral Initiating Project of Guangdong Ocean University[E13428] ; Youth Innovation Project of the Department of Education of Guangdong Province[2020KQNCX026] ; National Natural Science Foundation of China[61703189] ; Natural Science Foundation of Chongqing (China)[Cstc2020jcyjzdxmX0028] ; Key projects of the Guangdong Education Department[2019KZDXM019] ; Fund of Southern Marine Science and Engineering Guangdong Laboratory (Zhanjiang)[ZJW-2019-08] ; High-level marine discipline team project of Guangdong Ocean University[002026002009] ; Guangdong graduate academic forum project[230420003] ; first class discipline construction platform project in 2019 of Guangdong Ocean University[231419026] |
| WOS研究方向 | Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000605760900015 |
| 出版者 | ELSEVIER SCIENCE INC |
| 源URL | [http://119.78.100.138/handle/2HOD01W0/12713]  |
| 专题 | 中国科学院重庆绿色智能技术研究院 |
| 通讯作者 | Jin, Long |
| 作者单位 | 1.Guangdong Ocean Univ, Coll Elect & Informat Engn, Zhanjiang 524088, Peoples R China 2.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing 400714, Peoples R China 3.Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518108, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Guancheng,Huang, Haoen,Shi, Limei,et al. A noise-suppressing Newton-Raphson iteration algorithm for solving the time-varying Lyapunov equation and robotic tracking problems[J]. INFORMATION SCIENCES,2021,550:239-251. |
| APA | Wang, Guancheng.,Huang, Haoen.,Shi, Limei.,Wang, Chuhong.,Fu, Dongyang.,...&Xiao Xiuchun.(2021).A noise-suppressing Newton-Raphson iteration algorithm for solving the time-varying Lyapunov equation and robotic tracking problems.INFORMATION SCIENCES,550,239-251. |
| MLA | Wang, Guancheng,et al."A noise-suppressing Newton-Raphson iteration algorithm for solving the time-varying Lyapunov equation and robotic tracking problems".INFORMATION SCIENCES 550(2021):239-251. |
入库方式： OAI收割
来源：重庆绿色智能技术研究院
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