ORIGINAL RESEARCH article
Front. Neurorobot.
Volume 19 - 2025 | doi: 10.3389/fnbot.2025.1576473
This article is part of the Research TopicAdvancing Neural Network-Based Intelligent Algorithms in Robotics: Challenges, Solutions, and Future Perspectives - Volume IIView all 3 articles
Design and Analysis of Combined Discrete-Time Zeroing Neural Network for Solving Time-Varying Nonlinear Equation with Robot Application
Provisionally accepted
Zhisheng Ma*
Shaobin Huang- Harbin Engineering University, Harbin, China
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Zeroing neural network (ZNN) is viewed as an effective solution to timevarying nonlinear equation (TVNE). In this paper, a further study is shown by proposing a novel combined discrete-time ZNN (CDTZNN) model for solving TVNE. Specifically, a new difference formula, which is called the Taylor difference formula, is constructed for first-order derivative approximation by following Taylor series expansion. The Taylor difference formula is then used to discretize the continuous-time ZNN model in the previous study. The corresponding DTZNN model is obtained, where the direct Jacobian matrix inversion is required (being time consuming). Another DTZNN model for computing the inverse of Jacobian matrix is established to solve the aforementioned limitation. The novel CDTZNN model for solving the TVNE is thus developed by combining the two models. Theoretical analysis and numerical results demonstrate the efficacy of the proposed CDTZNN model. The CDTZNN applicability is further indicated by applying the proposed model to the motion planning of robot manipulators.
Keywords: Discrete-time zeroing neural network, Time-varying nonlinear equation, Taylor difference formula, Matrix inversion, Robot manipulators
Received: 14 Feb 2025; Accepted: 18 Jun 2025.
Copyright: © 2025 Ma and Huang. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence: Zhisheng Ma, Harbin Engineering University, Harbin, China
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