A modified noise-tolerant ZNN model for solving time-varying Sylvester equation with its application to robot manipulator

Recently, Xiao et al. (2021) proposed an efficient noise-tolerant zeroing neural network (NTZNN) model with fixed-time convergence for solving the time-varying Sylvester equation. In this paper, we propose a modified version of their NTZNN model, named the modified noise-tolerant zeroing neural network (MNTZNN) model. It extends the NTZNN model to a more general form and then we prove that, with appropriate parameter selection, our new MNTZNN model can significantly accelerate the convergence of the NTZNN model. Numerical experiments confirm that the MNTZNN model not only maintains fixed-time convergence and noise-tolerance but also has a faster convergence rate than the NTZNN model under certain conditions. In addition, the design strategy of the MNTZNN is also successfully applied to the path tracking of a 6-link planar robot manipulator under noise disturbance, which demonstrates its applicability and practicality.& COPY; 2023 The Franklin Institute. Published by Elsevier Inc. All rights reserved.