Abstract
Recently, a discrete-time zeroing dynamics (DTZD) in scalar form has been established to solver time-varying nonlinear equations (TVNE). For completeness, the extension study of such scalar-form DTZD algorithm is presented in this paper. Specifically, by following the previous work, a new DTZD algorithm in vector form, which has a cube error mode, is developed in this paper for solving the system of TVNE. Then, numerical results are given to substantiate the efficacy of the new vector-form DTZD algorithm. Furthermore, the application of the new DTZD algorithm to redundant robot manipulator is provided, thereby showing the application potential of the presented algorithm.
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Acknowledgment
This work is supported by the National Natural Science Foundation of China (with number 61603143), the Quanzhou City Science and Technology Program of China (with number 2018C111R), and also the National Innovation Training Program for University Students (with number 201810385017).
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Huang, Z., Lin, X., Zhang, Y., Zhang, Z., Guo, D. (2020). Numerical Verification and Robotic Application of New DTZD Algorithm for Solving System of Time-Varying Nonlinear Equations. In: Deng, Z. (eds) Proceedings of 2019 Chinese Intelligent Automation Conference. CIAC 2019. Lecture Notes in Electrical Engineering, vol 586. Springer, Singapore. https://doi.org/10.1007/978-981-32-9050-1_64
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DOI: https://doi.org/10.1007/978-981-32-9050-1_64
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