Discrete-Time Advanced Zeroing Neurodynamic Algorithm Applied to Future Equality-Constrained Nonlinear Optimization With Various Noises

This research first proposes the general expression of Zhang
et al.
discretization (ZeaD) formulas to provide an effective general framework for finding various ZeaD formulas by the idea of high-order derivative simultaneous elimination. Then, to solve the problem of future equality-constrained nonlinear optimization (ECNO) with various noises, a specific ZeaD formula originating from the general ZeaD formula is further studied for the discretization of a noise-perturbed continuous-time advanced zeroing neurodynamic model. Subsequently, the resulting noise-perturbed discrete-time advanced zeroing neurodynamic (NP-DTAZN) algorithm is proposed for the real-time solution to the future ECNO problem with various noises suppressed simultaneously. Moreover, theoretical and numerical results are presented to show the convergence and precision of the proposed NP-DTAZN algorithm in the perturbation of various noises. Finally, comparative numerical and physical experiments based on a Kinova JACO
²
robot manipulator are conducted to further substantiate the efficacy, superiority, and practicability of the proposed NP-DTAZN algorithm for solving the future ECNO problem with various noises.