A Lower Dimension Zeroing Neural Network for Time-Variant Quadratic Programming Applied to Robot Pose Control

Time-variant quadratic programming (TVQP) has widespread applications and often involves equality, inequality, and bound constraints. An effective solver for TVQP problems is zeroing neural network (ZNN), and nonlinear complementary problem function-based ZNN (NCP-ZNN) is a state-of-the-art ZNN solv...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on industrial informatics 2024-10, Vol.20 (10), p.11835-11843
Main Authors: Li, Weibing, Wu, Haimei, Jin, Long
Format: Article
Language:English
Subjects:
Bound constraints
Constraints
Jacobian matrices
Lagrange multiplier
Linear matrix inequalities
Neural networks
nonlinear complementary problem (NCP)
pose control
Quadratic programming
Quaternions
Recurrent neural networks
Robot control
Robots
Solvers
Symmetric matrices
time-variant quadratic programming (TVQP)
Vectors
zeroing neural network (ZNN)
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Time-variant quadratic programming (TVQP) has widespread applications and often involves equality, inequality, and bound constraints. An effective solver for TVQP problems is zeroing neural network (ZNN), and nonlinear complementary problem function-based ZNN (NCP-ZNN) is a state-of-the-art ZNN solver that can handle equality and inequality constraints. However, when dealing with bound constraints, NCP-ZNN expands the dimension of the matrix and then introduces twice the number of Lagrange multipliers. To overcome this deficiency, this article develops a modified NCP-ZNN solver by introducing the first-order optimality conditions. Numerical validation is performed to substantiate the superior solving efficiency of the modified NCP-ZNN solver, which can achieve the same or lower order of residual errors compared with the original NCP-ZNN. Then, the modified NCP-ZNN solver is applied to the pose control of a redundant manipulator, demonstrating its superiority in solving practical problems.
ISSN:1551-3203
1941-0050
DOI:10.1109/TII.2024.3413317