Robust Zeroing Neural-Dynamics and Its Time-Varying Disturbances Suppression Model Applied to Mobile Robot Manipulators

摘要

This paper proposes a novel robust zeroing neural-dynamics (RZND) approach as well as its associated model for solving the inverse kinematics problem of mobile robot manipulators. Unlike existing works based on the assumption that neural network models are free of external disturbances, four common forms of time-varying disturbances suppressed by the proposed RZND model are investigated in this paper. In addition, theoretical analyses on the antidisturbance performance are presented in detail to prove the effectiveness and robustness of the proposed RZND model with time-varying disturbances suppressed for solving the inverse kinematics problem of mobile robot manipulators. That is, the RZND model converges toward the exact solution of the inverse kinematics problem of mobile robot manipulators with bounded or zero-oriented steady-state position error. Moreover, simulation studies and comprehensive comparisons with existing neural network models, e.g., the conventional Zhang neural network model and the gradient-based recurrent neural network model, together with extensive tests with four common forms of time-varying disturbances substantiate the efficacy, robustness, and superiority of the proposed RZND approach as well as its time-varying disturbances suppression model for solving the inverse kinematics problem of mobile robot manipulators.