A Predefined-Time Convergent and Noise-Tolerant Zeroing Neural Network Model for Time Variant Quadratic Programming With Application to Robot Motion Planning
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866909443944349696 |
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| author | Yang, Yi Wang, Xuchen Voyles, Richard M. Ma, Xin |
| author_facet | Yang, Yi Wang, Xuchen Voyles, Richard M. Ma, Xin |
| contents | This paper develops a predefined-time convergent and noise-tolerant fractional-order zeroing neural network (PTC-NT-FOZNN) model, innovatively engineered to tackle time-variant quadratic programming (TVQP) challenges. The PTC-NT-FOZNN, stemming from a novel iteration within the variable-gain ZNN spectrum, known as FOZNNs, features diminishing gains over time and marries noise resistance with predefined-time convergence, making it ideal for energy-efficient robotic motion planning tasks. The PTC-NT-FOZNN enhances traditional ZNN models by incorporating a newly developed activation function that promotes optimal convergence irrespective of the model's order. When evaluated against six established ZNNs, the PTC-NT-FOZNN, with parameters $0 < α\leq 1$, demonstrates enhanced positional precision and resilience to additive noises, making it exceptionally suitable for TVQP tasks. Thorough practical assessments, including simulations and experiments using a Flexiv Rizon robotic arm, confirm the PTC-NT-FOZNN's capabilities in achieving precise tracking and high computational efficiency, thereby proving its effectiveness for robust kinematic control applications. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_20477 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Predefined-Time Convergent and Noise-Tolerant Zeroing Neural Network Model for Time Variant Quadratic Programming With Application to Robot Motion Planning Yang, Yi Wang, Xuchen Voyles, Richard M. Ma, Xin Robotics Neural and Evolutionary Computing This paper develops a predefined-time convergent and noise-tolerant fractional-order zeroing neural network (PTC-NT-FOZNN) model, innovatively engineered to tackle time-variant quadratic programming (TVQP) challenges. The PTC-NT-FOZNN, stemming from a novel iteration within the variable-gain ZNN spectrum, known as FOZNNs, features diminishing gains over time and marries noise resistance with predefined-time convergence, making it ideal for energy-efficient robotic motion planning tasks. The PTC-NT-FOZNN enhances traditional ZNN models by incorporating a newly developed activation function that promotes optimal convergence irrespective of the model's order. When evaluated against six established ZNNs, the PTC-NT-FOZNN, with parameters $0 < α\leq 1$, demonstrates enhanced positional precision and resilience to additive noises, making it exceptionally suitable for TVQP tasks. Thorough practical assessments, including simulations and experiments using a Flexiv Rizon robotic arm, confirm the PTC-NT-FOZNN's capabilities in achieving precise tracking and high computational efficiency, thereby proving its effectiveness for robust kinematic control applications. |
| title | A Predefined-Time Convergent and Noise-Tolerant Zeroing Neural Network Model for Time Variant Quadratic Programming With Application to Robot Motion Planning |
| topic | Robotics Neural and Evolutionary Computing |
| url | https://arxiv.org/abs/2412.20477 |