摘要
构建所需要的ZNN模型,通过李雅普诺夫方法证明模型稳定性良好,并将得到的路径图与其他神经网络图进行对比。将该神经网络算法应用到机械臂的路径规划中,获取最佳路径,并进行仿真验证。
The ZNN model is built and proven to be stable with Lyapunov method.The path graph output of the model is compared with that of other neural network methods.The zeroing neural network algorithm is applied to the path planning of manipulator and an optimal path is obtained.Simulation is used to verify the algorithm.
作者
丁浩
杨茂举
李岩
DING Hao;YANG Maoju;LI Yan(School of Electrical & Electronic Engineering, Changchun University of Technology, Changchun 130012, China;China United Network Communication Co. Ltd. of Changchun City Branch, Changchun 130000, China;Faw Mould Manufacturing Co. Ltd., Changchun 130011, China)
出处
《长春工业大学学报》
CAS
2020年第4期342-346,共5页
Journal of Changchun University of Technology
基金
国家自然科学基金资助项目(61873304)
吉林省科技厅项目(20200404208YY)。
