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In this paper, the output tracking of time-varying linear system is investigated with pseudo division-by-zero phenomenon illustrated. We only use Zhang dynamics (ZD) to design a ZD tracking controller, which is easier than using Zhang-gradient (ZG) method. The purpose of output tracking control for the considered time-varying linear system is to make the actual output track the desired output with...
In this paper, the research on the stabilization of time-varying linear (TVL) system is conducted with pseudo division-by-zero (PDBZ) phenomenon shown. We not only adopt zeroing dynamics (also called Zhang dynamics, ZD) method to design ZD stabilization controller, but also adopt zeroing-gradient (also called Zhang-gradient, ZG) method to design ZG stabilization controller. Through numerical experiments,...
In this paper, a criterion is proposed in the form of a quadratic function for the purpose of self-motion planning of redundant robot arms. The proposed self-motion scheme with joint physical limits considered could be formulated as a quadratic programming (QP) problem subject to equality, (inequality) and bound constraints. A primal-dual neural network based on linear variational inequalities (LVI)...
In this paper, multiple types of performance indices (termed, an original one and its simple extensions) are investigated for online cyclic motion planning of redundant manipulators, which aims at remedying a so-called joint-angle-drift problem. In addition, physical constraints such as joint limits and joint velocity limits are taken into consideration in these related scheme-formulations, and these...
In this paper, a recurrent neural network (termed, dual neural network) is revisited and applied to the online joint angle drift-free redundancy-resolution of a five-link planar robot manipulator. To do this, a drift-free criterion is exploited in the form of a quadratic function. In addition, the drift-free scheme could incorporate multiple joint physical limits such as joint limits and joint velocity...
This paper presents a simplified primal-dual neural network based on linear variational inequalities (LVI) for online repetitive motion planning of PA10 robot manipulator. To do this, a drift-free criterion is exploited in the form of a quadratic function. In addition, the repetitive-motion-planning scheme could incorporate the joint limits and joint velocity limits simultaneously. Such a scheme is...
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