Numerical Verification and Robotic Application of New DTZD Algorithm for Solving System of Time-Varying Nonlinear Equations
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.
Discrete-time algorithm Zeroing dynamics System of time-varying nonlinear equations Numerical verification Robotic application
Zhijing Huang Xinjie Lin Yiwen Zhang Zhixin Zhang Dongsheng Guo
College of Information Science and Engineering,Huaqiao University,Xiamen 361021,China
国际会议
江苏镇江
英文
562-570
2019-09-20（万方平台首次上网日期，不代表论文的发表时间）