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- W3035294906 abstract "Abstract In this paper, discrete-time nonlinear optimization (DTNO) for tracking control of robot manipulators is investigated. By utilizing zeroing neural dynamics (ZND) method, a continuous-time ZND (CTZND) model is first proposed for solving the corresponding continuous-time nonlinear optimization (CTNO) problem. Afterwards, three different explicit linear multi-step methods (i.e., explicit linear 3-step, 2-step, and 1-step methods) are respectively presented and investigated. To solve such a DTNO problem, the explicit linear 3-step method is adopted to combine with the CTZND model, and hence a 3-step discrete-time ZND (DTZND) model is proposed. For comparison purposes, 2-step and 1-step DTZND models are also developed. Besides, theoretical analyses indicate the validity and superiority of the proposed 3-step DTZND model. Finally, the numerical experimental results based on a 2-joint robot manipulator and a PUMA560 robot manipulator further verify that the proposed 3-step DTZND model is much superior to the other two DTZND models." @default.
- W3035294906 created "2020-06-19" @default.
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- W3035294906 date "2020-10-01" @default.
- W3035294906 modified "2023-10-12" @default.
- W3035294906 title "Discrete-time nonlinear optimization via zeroing neural dynamics based on explicit linear multi-step methods for tracking control of robot manipulators" @default.
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- W3035294906 doi "https://doi.org/10.1016/j.neucom.2020.05.093" @default.
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