2019
DOI: 10.1109/access.2019.2938840
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Discrete-Time ZND Models Solving ALRMPC via Eight-Instant General and Other Formulas of ZeaD

Abstract: Repetitive motion planning and control (RMPC) of redundant robot manipulators is a fundamental and important problem widely existing in industrial manufacturing. In this paper, the accelerationlevel RMPC (ALRMPC) is studied and solved in a discrete-time manner. For solving this problem, a new ALRMPC scheme with feedback control term is derived and presented at first. Then, by adopting Lagrange's undetermined multipliers method and zeroing neural dynamics (ZND), a continuous-time ZND model, which is based on th… Show more

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Cited by 13 publications
(5 citation statements)
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“…By setting the values of the three parameters in [24] as η 1 = η 3 = 0 and η 2 = −9/10, respectively, the following eight-instant ZeaD formula can be obtained:…”
Section: Eleven-instant and Other Zead Formulasmentioning
confidence: 99%
See 1 more Smart Citation
“…By setting the values of the three parameters in [24] as η 1 = η 3 = 0 and η 2 = −9/10, respectively, the following eight-instant ZeaD formula can be obtained:…”
Section: Eleven-instant and Other Zead Formulasmentioning
confidence: 99%
“…In order to facilitate the implementation of modern electronic hardware, the continuous model needs to be discretized. Therefore, in recent years, a new class of finite difference formula, termed Zhang et al discretization (ZeaD) formula [17][18][19][20][21][22][23][24], has been proposed and used to discretize a continuous model into a discrete one.…”
Section: Introductionmentioning
confidence: 99%
“…where O(η 2 ) denotes the second-order truncation error. e last discretization formula employed in this paper is an 8-instant ZeaD formula [44]…”
Section: Discretization Formulasmentioning
confidence: 99%
“…delays [25]- [29]. Specifically, when these methods are utilized to solve TVLES, they must be viewed as static at different time instants.…”
Section: Introductionmentioning
confidence: 99%