通信学报2026，Vol.47Issue(7)：96-109,14.DOI:10.11959/j.issn.1000-436x.TXXB260168
求解时变非线性优化的平滑预设时间零化神经网络及其应用
Smooth prescribed-time zeroing neural network for solving time-varying nonlinear optimization and its applications
摘要
Abstract
In existing prescribed-time zeroing neural networks,the derivative of the computational error with respect to time was found to be discontinuous at the prescribed time when solving time-varying nonlinear optimization problems,which could easily lead to actuator chattering in practical applications.Therefore,a smooth prescribed-time zeroing neu-ral network was proposed,which ensured that the derivative of the error trajectory remained continuous at the prescribed time.Furthermore,a whole-process smooth prescribed-time zeroing neural network was proposed,which ensured the smoothness of the error trajectory at the initial time and thereby achieved a smooth transition over the entire time do-main.Theoretical analysis was conducted on the prescribed-time convergence and smoothness of the computational error for the two proposed networks,and the impact of the smoothing gain on the networks'convergence performance was discussed.For the repetitive motion planning problem of a redundant manipulator with initial error,a smooth repetitive motion planning scheme was proposed and solved using the proposed smooth prescribed-time zeroing neural network.The smooth operation of the manipulator was ensured by this computational scheme,and convergence of the end-effector position error was achieved.Simulation results of time-varying nonlinear optimization and the redundant manipulator validate the effectiveness of the proposed networks and repetitive motion planning computational scheme.关键词
非线性优化/预设时间收敛/零化神经网络/重复运动规划Key words
nonlinear optimization/prescribed-time convergence/zeroing neural network/repetitive motion planning分类
信息技术与安全科学引用本文复制引用
仲国民,林锐,肖里坤,孙明轩..求解时变非线性优化的平滑预设时间零化神经网络及其应用[J].通信学报,2026,47(7):96-109,14.基金项目
国家自然科学基金资助项目(No.62073291) The National Natural Science Foundation of China(No.62073291) （No.62073291）
