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First/second-order predefined-time convergent ZNN models for time-varying quadratic programming and robotic manipulator application

文献类型：期刊论文

作者Wen, Hongsong1; Qu, Youran1; He, Xing1; Sun, Shiying2; Yang, Hongjun2; Li, Tao3,4; Zhou, Feihu3,4
刊名ISA TRANSACTIONS
出版日期2024-03-01
卷号146页码:42-49
关键词Zeroing neural network (ZNN) Predefined-time convergence Time-varying quadratic programming (TVQP) First-order predefined-time convergent ZNN (FPTZNN) Second-order predefined-time convergent ZNN (SPTZNN)
ISSN号0019-0578
DOI10.1016/j.isatra.2023.12.020
通讯作者He, Xing(hexingdoc@swu.edu.cn)
英文摘要Zeroing neural network (ZNN) model, an important class of recurrent neural network, has been widely applied in the field of computation and optimization. In this paper, two ZNN models with predefined -time convergence are proposed for the time -varying quadratic programming (TVQP) problem. First, in the framework of the traditional ZNN model, the first -order predefined -time convergent ZNN (FPTZNN) model is proposed in combination with a predefined -time controller. Compared with the existing ZNN models, the proposed ZNN model is error vector combined with sliding mode control technique. Then, the FPTZNN model is further extended and the second -order predefined -time convergent ZNN (SPTZNN) model is developed. Combined with the Lyapunov method and the concept of predefined -time stability, it is shown that the proposed FPTZNN and SPTZNN models have the properties of predefined -time convergence, and their convergence time can be flexibly adjusted by predefined -time control parameters. Finally, the proposed FPTZNN and SPTZNN models are compared with the existing ZNN models for the TVQP problem in simulation experiment, and the simulation experiment results verify the effectiveness and superior performance of the proposed FPTZNN and SPTZNN models. In addition, the proposed FPTZNN model for robot motion planning problem is applied and successfully implemented to verify the practicality of the model.
WOS关键词RECURRENT NEURAL-NETWORK ; ACTIVATION FUNCTIONS ; EQUATION ; RECOVERY ; DESIGN ; ROBUST
资助项目National Key R&D Program of China[1ZD0140409] ; Independent Research Project of Medical Engineering Laboratory of Chinese PLA General Hospital[2022SYSZZKY12]
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:001218030700001
出版者ELSEVIER SCIENCE INC
资助机构National Key R&D Program of China ; Independent Research Project of Medical Engineering Laboratory of Chinese PLA General Hospital
源URL[http://ir.ia.ac.cn/handle/173211/58394]  
专题智能机器人系统研究
通讯作者He, Xing
作者单位1.Southwest Univ, Coll Elect & Informat Engn, Chongqing Key Lab Nonlinear Circuits & Intelligent, Pune 400715, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
3.Chinese Peoples Liberat Army Gen Hosp, Med Ctr 1, Dept Crit Care Med, Beijing 100853, Peoples R China
4.Chinese Peoples Liberat Army Gen Hosp, Med Engn Lab, Beijing 100048, Peoples R China
推荐引用方式
GB/T 7714		 Wen, Hongsong,Qu, Youran,He, Xing,et al. First/second-order predefined-time convergent ZNN models for time-varying quadratic programming and robotic manipulator application[J]. ISA TRANSACTIONS,2024,146:42-49.
APA Wen, Hongsong.,Qu, Youran.,He, Xing.,Sun, Shiying.,Yang, Hongjun.,...&Zhou, Feihu.(2024).First/second-order predefined-time convergent ZNN models for time-varying quadratic programming and robotic manipulator application.ISA TRANSACTIONS,146,42-49.
MLA Wen, Hongsong,et al."First/second-order predefined-time convergent ZNN models for time-varying quadratic programming and robotic manipulator application".ISA TRANSACTIONS 146(2024):42-49.

入库方式： OAI收割

来源：自动化研究所

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