A New Varying-Parameter Convergent-Differential Neural-Network for Solving Time-Varying Convex QP Problem Constrained by Linear-Equality

Zhijun Zhang, Yeyun Lu, Lunan Zheng, Shuai Li, Zhuliang Yu, Yuanqing Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

69 Citations (Scopus)


To solve online continuous time-varying convex quadratic-programming problems constrained by a time-varying linear-equality, a novel varying-parameter convergent-differential neural network (termed as VP-CDNN) is proposed and analyzed. Different from fixed-parameter convergent-differential neural network (FP-CDNN), such as the gradient-based recurrent neural network, the classic Zhang neural network (ZNN), and the finite-time ZNN (FT-ZNN), VP-CDNN is based on monotonically increasing time-varying design-parameters. Theoretical analysis proves that VP-CDNN has super exponential convergence and the residual errors of VP-CDNN converge to zero even under perturbation situations, which are both better than traditional FP-CDNN and FT-ZNN. Computer simulations based on different activation functions are illustrated to verify the super exponential convergence performance and strong robustness characteristics of the proposed VP-CDNN. A robot tracking example is finally presented to verify the effectiveness and availability of the proposed VP-CDNN.

Original languageEnglish
Article number8302931
Pages (from-to)4110-4125
Number of pages16
JournalIEEE Transactions on Automatic Control
Issue number12
Publication statusPublished - 1 Dec 2018


  • Convergence and robustness
  • quadratic programming
  • recurrent neural networks
  • time-varying

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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