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1.
A new kind of recurrent neural network is presented for solving the Lyapunov equation with time-varying coefficient matrices. Different from other neural-computation approaches, the neural network is developed by following Zhang et al.'s design method, which is capable of solving the time-varying Lyapunov equation. The resultant Zhang neural network (ZNN) with implicit dynamics could globally exponentially converge to the exact time-varying solution of such a Lyapunov equation. Computer-simulation results substantiate that the proposed recurrent neural network could achieve much superior performance on solving the Lyapunov equation with time-varying coefficient matrices, as compared to conventional gradient-based neural networks (GNN).  相似文献   

2.
Zhang neural networks (ZNN), a special kind of recurrent neural networks (RNN) with implicit dynamics, have recently been introduced to generalize to the solution of online time-varying problems. In comparison with conventional gradient-based neural networks, such RNN models are elegantly designed by defining matrix-valued indefinite error functions. In this paper, we generalize, investigate and analyze ZNN models for online time-varying full-rank matrix Moore–Penrose inversion. The computer-simulation results and application to inverse kinematic control of redundant robot arms demonstrate the feasibility and effectiveness of ZNN models for online time-varying full-rank matrix Moore–Penrose inversion.  相似文献   

3.
An ε-twin support vector machine for regression   总被引:1,自引:1,他引:0  
A special class of recurrent neural network termed Zhang neural network (ZNN) depicted in the implicit dynamics has recently been introduced for online solution of time-varying convex quadratic programming (QP) problems. Global exponential convergence of such a ZNN model is achieved theoretically in an error-free situation. This paper investigates the performance analysis of the perturbed ZNN model using a special type of activation functions (namely, power-sum activation functions) when solving the time-varying QP problems. Robustness analysis and simulation results demonstrate the superior characteristics of using power-sum activation functions in the context of large ZNN-implementation errors, compared with the case of using linear activation functions. Furthermore, the application to inverse kinematic control of a redundant robot arm also verifies the feasibility and effectiveness of the ZNN model for time-varying QP problems solving.  相似文献   

4.
Neural Processing Letters - Several improvements of the Zhang neural network (ZNN) dynamics for solving the time-varying matrix inversion problem are presented. Introduced ZNN dynamical design is...  相似文献   

5.
In addition to the parallel-distributed nature, recurrent neural networks can be implemented physically by designated hardware and thus have been found broad applications in many fields. In this paper, a special class of recurrent neural network named Zhang neural network (ZNN), together with its electronic realization, is investigated and exploited for online solution of time-varying linear matrix equations. By following the idea of Zhang function (i.e., error function), two ZNN models are proposed and studied, which allow us to choose plentiful activation functions (e.g., any monotonically-increasing odd activation function). It is theoretically proved that such two ZNN models globally and exponentially converge to the theoretical solution of time-varying linear matrix equations when using linear activation functions. Besides, the new activation function, named Li activation function, is exploited. It is theoretically proved that, when using Li activation function, such two ZNN models can be further accelerated to finite-time convergence to the time-varying theoretical solution. In addition, the upper bound of the convergence time is derived analytically via Lyapunov theory. Then, we conduct extensive simulations using such two ZNN models. The results substantiate the theoretical analysis and the efficacy of the proposed ZNN models for solving time-varying linear matrix equations.  相似文献   

6.
Kong  Ying  Hu  Tanglong  Lei  Jingsheng  Han  Renji 《Neural Processing Letters》2022,54(1):125-144
Neural Processing Letters - Zhang neural network (ZNN), a special recurrent neural network, has recently been established as an effective alternative for time-varying linear equations with...  相似文献   

7.
Neural Processing Letters - In the previous work, a typical recurrent neural network termed Zhang neural network (ZNN) has been developed for various time-varying problems solving. Based on the...  相似文献   

8.
A special class of recurrent neural networks (RNN) has recently been proposed by Zhang et al. for solving online time-varying matrix problems. Being different from conventional gradient-based neural networks (GNN), such RNN (termed specifically as Zhang neural networks, ZNN) are designed based on matrix-valued error functions, instead of scalar-valued norm-based energy functions. In this paper, we generalize and further investigate the ZNN model for time-varying matrix square root finding. For the purpose of possible hardware (e.g., digital circuit) realization, a discrete-time ZNN model is constructed and developed, which incorporates Newton iteration as a special case. Besides, to obtain an appropriate step-size value (in each iteration), a line-search algorithm is employed for the proposed discrete-time ZNN model. Computer-simulation results substantiate the effectiveness of the proposed ZNN model aided with a line-search algorithm, in addition to the connection and explanation to Newton iteration for matrix square root finding.  相似文献   

9.
Presents a recurrent neural network for solving the Sylvester equation with time-varying coefficient matrices. The recurrent neural network with implicit dynamics is deliberately developed in the way that its trajectory is guaranteed to converge exponentially to the time-varying solution of a given Sylvester equation. Theoretical results of convergence and sensitivity analysis are presented to show the desirable properties of the recurrent neural network. Simulation results of time-varying matrix inversion and online nonlinear output regulation via pole assignment for the ball and beam system and the inverted pendulum on a cart system are also included to demonstrate the effectiveness and performance of the proposed neural network.  相似文献   

10.
Different from gradient-based neural dynamics, a special kind of recurrent neural dynamics has recently been proposed by Zhang et al. for solving online time-varying problems. Such a recurrent neural dynamics is designed based on an indefinite error-monitoring function instead of a usually norm- or square-based energy function. In addition, Zhang neural dynamics (ZND) are depicted generally in implicit dynamics, whereas gradient-based neural dynamics (GND) are associated with explicit dynamics. In this paper, we generalize the ZND design method to solving online nonlinear time-varying equations in the form of f (x, t) = 0. For comparative purposes, the GND model is also employed for such time-varying equations’ solving. Computer-simulation results via power-sigmoid activation functions substantiate the theoretical analysis and efficacy of the ZND model for solving online nonlinear time-varying equations.  相似文献   

11.
In view of the great potential in parallel processing and ready implementation via hardware, neural networks are now often employed to solve online nonlinear matrix equation problems. Recently, a novel class of neural networks, termed Zhang neural network (ZNN), has been formally proposed by Zhang et al. for solving online time-varying problems. Such a neural-dynamic system is elegantly designed by defining an indefinite matrix-valued error-monitoring function, which is called Zhang function (ZF). The dynamical system is then cast in the form of a first-order differential equation by using matrix notation. In this paper, different indefinite ZFs, which lead to different ZNN models, are proposed and developed as the error-monitoring functions for time-varying matrix square roots finding. Towards the final purpose of field programmable gate array (FPGA) and application-specific integrated circuit (ASIC) realization, the MATLAB Simulink modeling and verifications of such ZNN models are further investigated for online solution of time-varying matrix square roots. Both theoretical analysis and modeling results substantiate the efficacy of the proposed ZNN models for time-varying matrix square roots finding.  相似文献   

12.
This paper presents and investigates the application of Zhang neural network (ZNN) activated by Li function to kinematic control of redundant robot manipulators via time-varying Jacobian matrix pseudoinversion. That is, by using Li activation function and by computing the time-varying pseudoinverse of the Jacobian matrix (of the robot manipulator), the resultant ZNN model is applied to redundant-manipulator kinematic control. Note that there are nine novelties and differences of ZNN from the conventional gradient neural network in the research methodology. More importantly, such a Li-function activated ZNN (LFAZNN) model has the property of finite-time convergence (showing its feasibility to redundant-manipulator kinematic control). Simulation results based on a four-link planar robot manipulator and a PA10 robot manipulator further demonstrate the effectiveness of the presented LFAZNN model, as well as show the LFAZNN application prospect.  相似文献   

13.
Ma  Zhisheng  Yu  Shihang  Han  Yang  Guo  Dongsheng 《Neural computing & applications》2021,33(21):14231-14245
Neural Computing and Applications - A typical class of recurrent neural networks called zeroing neural network (ZNN) has been considered as a powerful alternative for time-varying problems solving....  相似文献   

14.
This technical note presents theoretical analysis and simulation results on the performance of a classic gradient neural network (GNN), which was designed originally for constant matrix inversion but is now exploited for time-varying matrix inversion. Compared to the constant matrix-inversion case, the gradient neural network inverting a time-varying matrix could only approximately approach its time-varying theoretical inverse, instead of converging exactly. In other words, the steady-state error between the GNN solution and the theoretical/exact inverse does not vanish to zero. In this technical note, the upper bound of such an error is estimated firstly. The global exponential convergence rate is then analyzed for such a Hopfield-type neural network when approaching the bound error. Computer-simulation results finally substantiate the performance analysis of this gradient neural network exploited to invert online time-varying matrices.  相似文献   

15.
Following the idea of using first-order time derivatives, this paper presents a general recurrent neural network (RNN) model for online inversion of time-varying matrices. Different kinds of activation functions are investigated to guarantee the global exponential convergence of the neural model to the exact inverse of a given time-varying matrix. The robustness of the proposed neural model is also studied with respect to different activation functions and various implementation errors. Simulation results, including the application to kinematic control of redundant manipulators, substantiate the theoretical analysis and demonstrate the efficacy of the neural model on time-varying matrix inversion, especially when using a power-sigmoid activation function.  相似文献   

16.
通常的递归神经网络计算方法采用渐近收敛的网络模型,误差函数渐近收敛于零,理论上需经过无穷长的计算时间才能获得被求解问题的精确解。文中提出了一种终态递归神经网络模型,该网络形式新颖,具有有限时间收敛特性,用于解决时变矩阵计算问题时可使得计算过程快速收敛,且计算精度高。该网络的另一特点是动态方程右端函数值有限,易于实现。首先,分析渐近收敛网络模型在时变计算问题求解方面的缺陷,说明引入终态网络模型的必要性;然后,给出终态网络动态方程,推导出该网络收敛时间的具体表达式。对于时变矩阵逆和广义逆求解,定义一个误差函数,并依据误差函数构造终态递归神经网络进行求解,使计算过程在有限时间内收敛便能得到精确解。在将任意初始位置下的冗余机械臂轨迹规划任务转换为二次规划问题后,利用所提出的神经网络进行计算,得出的关节角轨迹导致末端执行器完成封闭轨迹跟踪,且关节角严格返回初始位置,以实现可重复运动。使用MATLAB/SIMULINK对时变矩阵计算问题和机器人轨迹规划任务分别进行仿真,通过比较分别采用渐近网络模型和终态网络模型时的计算过程与结果可以看出,使用终态网络模型的计算过程收敛快且显著提高了计算精度。对不同时变计算问题的求解体现了所提神经网络的应用背景。  相似文献   

17.
Li  Xiaoxiao  Yu  Jiguo  Li  Shuai  Shao  Zehui  Ni  Lina 《Neural Processing Letters》2019,50(2):1687-1703
Neural Processing Letters - Based on the indefinite error-monitoring function, we propose a novel Zhang neural network (ZNN) model called NNT-ZNN with two properties of nonlinear and noise-tolerant...  相似文献   

18.
In this paper, two novel neural networks (NNNs), namely NNN‐L and NNN‐R neural models, are proposed to online left and right Moore‐Penrose inversion. As compared to GNN (gradient neural network) and the recently proposed ZNN (Zhang neural network) for the left or right Moore‐Penrose inverse solving, our models are theoretically proven to possess superior global convergence performance. More importantly, the proposed NNN‐R model is successfully applied to path‐tracking control of a three‐link planar robot manipulator. Illustrative examples well validate the theoretical analyses as well as demonstrate the feasibility of the proposed models, which are adopted and verified their effectiveness in kinematic control of a redundant manipulator, for real‐time Moore‐Penrose inverse solving.  相似文献   

19.
Neural Processing Letters - A novel finite-time convergent zeroing neural network (ZNN) based on varying gain parameter for solving time-varying (TV) problems is presented. The model is based on...  相似文献   

20.
Adaptive neural queue management for TCP networks   总被引:1,自引:0,他引:1  
Active Queue Management (AQM) is a proven strategy to efficiently maintain queues and ensure high utilization of Transmission Control Protocol (TCP) network resources. The fundamental mechanism is to manage incoming packet rates at a router to prevent incipient network congestion. In this paper, we present an efficient neural network AQM system as a queue controller. The recurrent neural network has a Multi-layer Perceptron-Infinite Impulse Response (MLP-IIR) structure. Three distinct neural AQMs are trained under different network scenarios involving traffic levels. Selecting one of three neural AQMs is based on posterior probability history of traffic level. In addition, we investigate stochastic modeling of the network dynamics by a Dynamic Bayesian Network (DBN). This model allows implementation of a predictive AQM system in which queue dynamics are predicted and used for error prediction via online DBN estimation. Our AQM method is evaluated through simulation experiments both using an Ordinary Differential Equation (ODE) network model and using OPNET©. The simulation results demonstrate that our adaptive neural AQM outperforms Random Early Detection (RED) and Proportional-Integral-Derivative (PID) based AQM.  相似文献   

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