Penalty-enhanced error-redefinition RNN for time-varying QP problems with multiple constraints and robot arm applications

• Published in: Nonlinear dynamics Vol. 113; no. 17; pp. 23259 - 23283
• Main Authors: Zhang, Tongyang, Yang, Song
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Nature B.V 01.09.2025
• Subjects: Accuracy; Adaptability; Algorithms; Constraints; Convergence; Efficiency; Energy consumption; Methods; Motion control; Motion planning; Neural networks; Optimization; Penalty function; Quadratic programming; Recurrent neural networks; Robot arms; Robot dynamics; Robotics; Robots; Signal processing

Time-varying quadratic programming (QP) problems with multiple constraints (i.e., equality and inequality constraints) arise in various applications, including the motion planning of robotic arms. To achieve an efficient and accurate solution for these optimization problems, this paper proposes a no...