August 2024
Intermediate to advanced
355 pages
11h 19m
English
Content preview from Zhang Time Discretization (ZTD) Formulas and Applications
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Chapter 11Repetitive Motion Control of Redundant Manipulators
Abstract
In this chapter, the repetitive motion control of redundant manipulators is investigated. First, a repetitive motion control problem is presented, and a continuous-time zeroing neural network (CTZNN) model is obtained for solving the problem. Meanwhile, the development of a discrete-time zeroing neural network (DTZNN) algorithm is desired for convenient computational processing. On the basis of this, this chapter presents a six-step Zhang time discretization (6S-ZTD) formula, which has high precision. By using the 6S-ZTD formula and the four-step backward numerical-differentiation formula, a six-step DTZNN (6S-DTZNN) algorithm is further developed ...
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