Design, Analysis, and Application of a Discrete Error Redefinition Neural Network for Time-Varying Quadratic Programming

摘要

Time-varying quadratic programming (TV-QP) is widely used in artificial intelligence, robotics, and many other fields. To solve this important problem, a novel discrete error redefinition neural network (D-ERNN) is proposed. By redefining the error monitoring function and discretization, the proposed neural network is superior to some traditional neural networks in terms of convergence speed, robustness, and overshoot. Compared with the continuous ERNN, the proposed discrete neural network is more suitable for computer implementation. Unlike continuous neural networks, this article also analyzes and proves how to select the parameters and step size of the proposed neural networks to ensure the reliability of the network. Moreover, how to achieve the discretization of the ERNN is presented and discussed. The convergence of the proposed neural network without disturbance is proven, and bounded time-varying disturbances can be resisted in theory. Furthermore, the comparison results with other related neural networks show that the proposed D-ERNN has a faster convergence speed, better antidisturbance ability, and lower overshoot.