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International Conference on Intelligent Robotics and Applications

ICIRA 2022: Intelligent Robotics and Applications pp 731–741Cite as

A VPRNN Model with Fixed-Time Convergence for Time-Varying Nonlinear Equation

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13457))

Abstract

Robots 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.

This work was supported in part by the National Natural Science Foundation of China under Grant 62171274 and Grant U1933125.

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Author information

Authors and Affiliations

  1. Department of Automation, Shanghai Jiao Tong University, Shanghai, China

    Miaomiao Zhang & Edmond Q. Wu

Authors
  1. Miaomiao Zhang
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  2. Edmond Q. Wu
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Corresponding author

Correspondence to Miaomiao Zhang .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Harbin, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Harbin, China

    Weihong Ren

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Cite this paper

Zhang, M., Wu, E.Q. (2022). A VPRNN Model with Fixed-Time Convergence for Time-Varying Nonlinear Equation. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_66

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  • DOI: https://doi.org/10.1007/978-3-031-13835-5_66

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13834-8

  • Online ISBN: 978-3-031-13835-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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