Title | ||
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Li-function activated ZNN with finite-time convergence applied to redundant-manipulator kinematic control via time-varying Jacobian matrix pseudoinversion. |
Abstract | ||
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This paper presents and investigates the application of Zhang neural network (ZNN) activated by Li function to kinematic control of redundant robot manipulators via time-varying Jacobian matrix pseudoinversion. That is, by using Li activation function and by computing the time-varying pseudoinverse of the Jacobian matrix (of the robot manipulator), the resultant ZNN model is applied to redundant-manipulator kinematic control. Note that there are nine novelties and differences of ZNN from the conventional gradient neural network in the research methodology. More importantly, such a Li-function activated ZNN (LFAZNN) model has the property of finite-time convergence (showing its feasibility to redundant-manipulator kinematic control). Simulation results based on a four-link planar robot manipulator and a PA10 robot manipulator further demonstrate the effectiveness of the presented LFAZNN model, as well as show the LFAZNN application prospect. |
Year | DOI | Venue |
---|---|---|
2014 | 10.1016/j.asoc.2014.06.045 | Applied Soft Computing |
Keywords | Field | DocType |
Li-function activated ZNN,Finite-time convergence,Redundant manipulator,Kinematic control,Time-varying matrix pseudoinversion | Convergence (routing),Kinematics,Jacobian matrix and determinant,Control theory,Activation function,Manipulator,Moore–Penrose pseudoinverse,Artificial neural network,Robot,Mathematics | Journal |
Volume | Issue | ISSN |
24 | C | 1568-4946 |
Citations | PageRank | References |
22 | 0.75 | 30 |
Authors | ||
2 |
Name | Order | Citations | PageRank |
---|---|---|---|
Dongsheng Guo | 1 | 399 | 31.61 |
Yunong Zhang | 2 | 2344 | 162.43 |