New discrete-time zeroing neural network for solving time-dependent linear equation with boundary constraint

Recently, continuous- and discrete-time models of a zeroing neural network (ZNN) have been developed to provide online solutions for the time-dependent linear equation (TDLE) with boundary constraint. This paper presents a novel approach to address the bound-constrained TDLE (BCTDLE) problem by proposing a new discrete-time ZNN (DTZNN) model. The proposed DTZNN model is designed using the Taylor difference formula to discretize the previous continuous-time ZNNN (CTZNN) model. Theoretical analysis indicates the computational property of the proposed DTZNN model, and numerical results further demonstrate its validity. The applicability of the proposed DTZNN model is finally confirmed via its application to the motion planning of a PUMA560 robotic arm.