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Discrete-time neural network with two classes of bias noises for solving time-variant matrix inversion and application to robot tracking

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Abstract

It is well known that noise is inevitable in real world, especially in the case of solving time-variant matrix inversion. Therefore, it is more necessary to study the algorithm with bias noises to solve time-variant matrix inversion. This paper investigates discrete-time neural network with two classes of bias noises for solving time-variant matrix inversion, and its application to robot tracking based on the property of second-order differential equation. Firstly, the model is presented and some indispensable propaedeutics are given. Then, continuous-time and discrete-time neural network with two classes of bias noises is designed, respectively. Their convergence and finite-time stability are also theoretically analyzed. Finally, the proposed models are applied to a five-link robot tracking. Numerical simulations demonstrate the superiority and effectiveness of our method.

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Acknowledgements

This work was supported by the National Science Foundation of China (61374028), the Key Scientific Research Foundation of Education Bureau of Henan Province, China (Grant No. 19A140021), and the 2016 Social science and economics’ association research topics in Henan Province (SKL-2016-3868). The paper has not been published and will not be submitted elsewhere for publication. In order to improve the quality of the article, with the consent of the original author and Zhiqiang Zhang, we invited Zhiqiang Zhang to revise the article. He added the finite-time stability to the revised paper.

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Authors and Affiliations

  1. Department of Basic Courses, Zhengzhou College of Science & Technology, Zhengzhou, 450064, China

    Peng Miao & Deyu Wu

  2. College of Electrical Engineering and New Energy, China Three Gorges University, Yichang, 443002, China

    Yanjun Shen

  3. General Education Centre, Zhengzhou Business University, Gongyi, 451200, China

    Zhiqiang Zhang

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  1. Peng Miao
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  2. Deyu Wu
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  3. Yanjun Shen
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  4. Zhiqiang Zhang
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Correspondence to Peng Miao.

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Miao, P., Wu, D., Shen, Y. et al. Discrete-time neural network with two classes of bias noises for solving time-variant matrix inversion and application to robot tracking. Neural Comput & Applic 31, 4879–4890 (2019). https://doi.org/10.1007/s00521-018-03986-w

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  • DOI: https://doi.org/10.1007/s00521-018-03986-w

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