Numerical Verification and Robotic Application of New DTZD Algorithm for Solving System of Time-Varying Nonlinear Equations

摘要

Recently, a discrete-time zeroing dynamics (DTZD) in scalar form has been established to solver time-varying nonlinear equations (TVNE). For completeness, the extension study of such scalar-form DTZD algorithm is presented in this paper. Specifically, by following the previous work, a new DTZD algorithm in vector form, which has a cube error mode, is developed in this paper for solving the system of TVNE. Then, numerical results are given to substantiate the efficacy of the new vector-form DTZD algorithm. Furthermore, the application of the new DTZD algorithm to redundant robot manipulator is provided, thereby showing the application potential of the presented algorithm.