An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators
Joint Authors
Ying, Kong
Ruiyang, Zhang
Tang, Qingqing
Lei, Jingsheng
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-15
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Ying, Kong& Tang, Qingqing& Lei, Jingsheng& Ruiyang, Zhang. 2020. An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators. Complexity،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1144373
Modern Language Association (MLA)
Ying, Kong…[et al.]. An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators. Complexity No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1144373
American Medical Association (AMA)
Ying, Kong& Tang, Qingqing& Lei, Jingsheng& Ruiyang, Zhang. An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators. Complexity. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1144373
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1144373