Name
Title | ||
|---|---|---|
Hyperbolic tangent variant-parameter robust ZNN schemes for solving time-varying control equations and tracking of mobile robot |
Abstract | ||
|---|---|---|
Time-varying Lyapunov and Stein matrix equations (TVLSMEs) are very ubiquitous in engineering applications. To solve TVLSMEs, many zeroing neural networks (ZNNs) activated by nonlinear activation functions have been proposed. In the conventional ZNN schemes, the designed convergence parameters (DCPs) before the nonlinear activation functions are extraordinarily important because DCPs determine their convergent rates basically. However, the DCPs are usually stated to be constant, which is not practical because the DCPs are usually time-varying in realistic hardware situations, especially the external noises injected. Hence, many varying-parameter ZNNs (VP-ZNNs) with time-varying DCPs have been proposed previously. Compared with finite-parameter ZNNs, these traditional VP-ZNNs are proved to have better convergence, however their downside is that DCPs usually increases over time, and becomes even infinite eventually. Evidently, infinity large DCPs would be lack of robustness are unacceptable in practice, especially the external noises injected. Additionally, even if VP-ZNNs converge over time, the growth of DCPs will result in a huge waste of computing resources. Inspired by that, a new hyperbolic tangent varying-parameter ZNNs (HTVP-ZNNs) with time-varying DCPs are proposed in this paper. Considering the noisy environment, we also develop the robust HTVP-ZNNs (HTVPR-ZNNs). Both of them are able to solve the time-variant Lyapunov and Stein matrix equations in prescribed-time. Theoretically the convergent prescribed-time of the HTVPR-ZNN and the upper time threshold of the DCPs are analyzed mathematically. And numerical experiments and trajectory tracking tasks of the mobile robot substantiate the outstanding convergence of the HTVPR-ZNN schemes. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1016/j.neucom.2022.08.066 | Neurocomputing |
Keywords | DocType | Volume |
Hyperbolic tangent varying parameter,Robust zeroing neural network,Prescribed-time convergence,Lyapunov and Stein matrix equations | Journal | 510 |
ISSN | Citations | PageRank |
0925-2312 | 0 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jiawei Luo | 1 | 0 | 0.34 |
| Hui Yang | 2 | 18 | 8.01 |
| Lingli Yuan | 3 | 0 | 0.34 |
| Hong Chen | 4 | 0 | 0.34 |
| Xuhuan Wang | 5 | 0 | 0.34 |