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- W4289656488 abstract "AbstractRobots are widely used in various engineering fields, and the solution to their trajectory tracking problem has attracted increasing attention. Such a problem can be typically transformed into a time-varying nonlinear equation (TVNE). For complex and high-precision robot trajectory tracking problems, a fast and low-error tracking solution is necessary. Therefore, a varying-parameter recurrent neural network (VPRNN) model with a modified power-type time-varying parameter is proposed for solving TVNE. An improved sign-bi-power function is selected for the activation function, then the VPRNN model achieves fixed-time convergence. Numerical comparisons with the general fixed-parameter recurrent neural network model are performed, which demonstrates the superiority of our VPRNN model. Besides, the proposed VPRNN model is successfully used to solve the trajectory tracking problem of a three-link robot, which shows its feasibility in practical applications.KeywordsVarying-parameter recurrent neural networkTime-varying nonlinear equationFixed-time convergenceRobot manipulator control" @default.
- W4289656488 created "2022-08-03" @default.
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- W4289656488 date "2022-01-01" @default.
- W4289656488 modified "2023-10-16" @default.
- W4289656488 title "A VPRNN Model with Fixed-Time Convergence for Time-Varying Nonlinear Equation" @default.
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- W4289656488 doi "https://doi.org/10.1007/978-3-031-13835-5_66" @default.
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