An exponential varying-parameter neural network for repetitive tracking of mobile manipulators

DOI10.1155/2020/8520835MaRDI QIDQ2210281zbMATH OpenOpenAlexWikidataFDO

Authors Ying Kong, Qingqing Tang, Jingsheng Lei, Ruiyang Zhang

Publication date 5 November 2020

Published in Complexity (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/8520835

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Variable structure systems (93B12) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: A novel exponential varying-parameter neural network (EVPNN) is presented and investigated to solve the inverse redundancy scheme of the mobile manipulators via quadratic programming (QP). To suspend the phenomenon of drifting free joints and guarantee high convergent precision of the end effector, the EVPNN model is applied to trajectory planning of mobile manipulators. Firstly, the repetitive motion scheme for mobile manipulators is formulated into a QP index. Secondly, the QP index is transformed into a time-varying matrix equation. Finally, the proposed EVPNN method is used to solve the QP index via the matrix equation. Theoretical analysis and simulations illustrate that the EVPNN solver has an exponential convergent speed and strong robustness in mobile manipulator applications. Comparative simulation results demonstrate that the EVPNN possesses a superior convergent rate and accuracy than the traditional ZNN solver in repetitive trajectory planning with a mobile manipulator.

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• Advances in Neural Networks – ISNN 2005
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Cites work

• A finite-time recurrent neural network for solving online time-varying Sylvester matrix equation based on a new evolution formula
• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• Nonlinear recurrent neural networks for finite-time solution of general time-varying linear matrix equations
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• Repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators

Cited in

(1)

• A GNN for repetitive motion generation of four-wheel omnidirectional mobile manipulator with nonconvex bound constraints

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