Noise-Tolerant and Finite-Time Convergent ZNN Models for Dynamic Matrix Moore–Penrose Inversion

摘要

Dynamic (or say, time-varying) problems have been a hot spot of research recently. As a general form of matrix inverse, dynamic Moore-Penrose inverse solving has received more and more attention owing to its broad applications. The approaches based on neural networks have become a popular solution to various dynamic matrix-related problems including dynamic Moore-Penrose inverse. However, existing neural models either only achieve infinitetime instead of finite-time convergence, or are sensitive to noises. Therefore, finite-time convergent neural model, which is simultaneously capable of addressing the noises, is desperately needed for dynamic Moore-Penrose inverse solving. To do that, in this paper, a novel evolution formula is designed based on the widely investigated Zhang neural network (ZNN). Accordingly, two modified ZNN models (MZNN), namely MZNN-R and MZNN-L models, are proposed and analyzed for the right and left dynamic Moore-Penrose inversion of full-rank matrices, respectively. In addition to providing detailed theoretical analyses on the desired finite-time convergence and noise-depression properties of the proposed two models, we also perform two numerical examples for further verification. Furthermore, to illustrate the potential of MZNN models in practical applications, two path-tracking control examples are also presented via a two-dimensional planar three-link and a three-dimensional Kinova Jaco <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> redundant robot manipulator. The feasibility, extraordinary efficacy, and superiority of the proposed MZNN models for dynamic Moore-Penrose inverse solving are corroborated by both theoretical results and simulation observations.