Since the last decade, several complex-valued neural networks have been developed and applied in various research areas. As an extension of real-valued recurrent neural networks, complex-valued recurrent neural networks use complex-valued states, connection weights, or activation functions with much more complicated properties than real-valued ones. This paper presents several sufficient conditions derived to ascertain the existence of unique equilibrium, global asymptotic stability, and global exponential stability of delayed complex-valued recurrent neural networks with two classes of complex-valued activation functions. Simulation results of three numerical examples are also delineated to substantiate the effectiveness of the theoretical results.

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One important issue in the motion planning and control of kinematically redundant manipulators is the obstacle avoidance. In this paper, a recurrent neural network is developed and applied for kinematic control of redundant manipulators with obstacle avoidance capability. An improved problem formulation is proposed in the sense that the collision-avoidance requirement is represented by dynamically-updated inequality constraints. In addition, physical constraints such as joint physical limits are also incorporated directly into the formulation. Based on the improved problem formulation, a dual neural network is developed for the online solution to collision-free inverse kinematics problem. The neural network is simulated for motion control of the PA10 robot arm in the presence of point and window-shaped obstacle.

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