Towards non-linearly activated ZNN model for constrained manipulator trajectory tracking

Abstract

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As a powerful method for time-varying problems solving, the zeroing neural network (ZNN) is widely applied in many practical applications that can be modeled as time-varying linear matrix equations (TVLME). Generally, existing ZNN models solve these TVLME problems in the ideal no noise situation without inequality constraints, but the TVLME with noises and inequality constraints are rarely considered. Therefore, a non-linear activation function is designed, and based on the non-linear activation function, a non-linearly activated ZNN (NAZNN) model is proposed for solving constrained TVLME (CTVLME) problems. The convergence and robustness of the proposed NAZNN model are verified theoretically, and simulation results further demonstrate the effectiveness and superiority of the NAZNN model in dealing with CTVLME and the constrained robot manipulator trajectory tracking problems. In addition, the wheeled robot trajectory tracking fault problems with physical constraints are also analyzed theoretically, and the proposed NAZNN model is also applied to the manipulator trajectory tracking fault problem, and the experimental results prove that the NAZNN model also deal with the manipulator trajectory tracking fault problem effectively.

Keywords

• zeroing neural network
• activation function
• robot trajectory tracking
• trajectory tracking fault problem
• ABB simulation