IEEE Transactions on Automatic Control, Vol.63, No.12, 4110-4125, 2018
A New Varying-Parameter Convergent-Differential Neural-Network for Solving Time-Varying Convex QP Problem Constrained by Linear-Equality
To solve online continuous time-varying convex quadratic-programming problems constrained by a time-varying linear-equality, a novel varying-parameter convergent-differential neural network (termed as VP-CDNN) is proposed and analyzed. Different from fixed-parameter convergent-differential neural network (FP-CDNN), such as the gradient-based recurrent neural network, the classic Zhang neural network (ZNN), and the finite-time ZNN (FT-ZNN), VP-CDNN is based on monotonically increasing time-varying design-parameters. Theoretical analysis proves that VP-CDNN has super exponential convergence and the residual errors of VP-CDNN converge to zero even under perturbation situations, which are both better than traditional FP-CDNN and FT-ZNN. Computer simulations based on different activation functions are illustrated to verify the super exponential convergence performance and strong robustness characteristics of the proposed VP-CDNN. A robot tracking example is finally presented to verify the effectiveness and availability of the proposed VP-CDNN.