An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators
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,...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/8520835 |
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| _version_ | 1832566319509143552 |
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| author | Ying Kong Qingqing Tang Jingsheng Lei Ruiyang Zhang |
| author_facet | Ying Kong Qingqing Tang Jingsheng Lei Ruiyang Zhang |
| author_sort | Ying Kong |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-0ed7acab475b4e93a3d7f83441a74df1 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-0ed7acab475b4e93a3d7f83441a74df12025-02-03T01:04:27ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/85208358520835An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile ManipulatorsYing Kong0Qingqing Tang1Jingsheng Lei2Ruiyang Zhang3Department of Information and Electronic Engineering, Zhejiang University of Science and Technology, Hangzhou, ChinaDepartment of Information and Electronic Engineering, Zhejiang University of Science and Technology, Hangzhou, ChinaDepartment of Information and Electronic Engineering, Zhejiang University of Science and Technology, Hangzhou, ChinaDepartment of Information and Electronic Engineering, Zhejiang University of Science and Technology, Hangzhou, ChinaA 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.http://dx.doi.org/10.1155/2020/8520835 |
| spellingShingle | Ying Kong Qingqing Tang Jingsheng Lei Ruiyang Zhang An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators Complexity |
| title | An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators |
| title_full | An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators |
| title_fullStr | An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators |
| title_full_unstemmed | An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators |
| title_short | An Exponential Varying-Parameter Neural Network for Repetitive Tracking of Mobile Manipulators |
| title_sort | exponential varying parameter neural network for repetitive tracking of mobile manipulators |
| url | http://dx.doi.org/10.1155/2020/8520835 |
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