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In order to discretize the continuous-time neural dynamics or control system effectively and to achieve high computational accuracy in approximating the first-order derivative of a target function, a 1-node-ahead differentiation formula within Zhang finite difference (ZFD) framework labeled as 4-node g-square finite difference (4NgSFD) is presented in this paper. The presented formula, which is based...
A general recurrent neural network (RNN) with implicit dynamics has been proposed by Zhang et al for online time-varying algebraic equations solving; namely Zhang neural network (ZNN). In this type of network systems, neural dynamics are elegantly introduced by defining a matrix-valued error-monitoring function rather than the usual norm-based scalar-valued error funtion. This makes the computational...
To diminish the discontinuity and divergence of infinity norm torque minimization scheme, a bi-criteria weighting scheme is proposed for online redundancy resolution of redundant robot arms. Such a scheme can easily be reformulated into a quadratic program (QP) subject to equality, inequality and bound constraints. To solve this QP problem online, a primal-dual dynamical-system solver is further presented...
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