{"id":"https://openalex.org/W4312608988","doi":"https://doi.org/10.1109/icarm54641.2022.9959724","title":"Comparisons of Slack Variable, NCP Function, and Penalty Function Based ZNNs for Solving Equality-and Inequality-Constrained QP Problems With Robotic Applications","display_name":"Comparisons of Slack Variable, NCP Function, and Penalty Function Based ZNNs for Solving Equality-and Inequality-Constrained QP Problems With Robotic Applications","publication_year":2022,"publication_date":"2022-07-09","ids":{"openalex":"https://openalex.org/W4312608988","doi":"https://doi.org/10.1109/icarm54641.2022.9959724"},"language":"en","primary_location":{"id":"doi:10.1109/icarm54641.2022.9959724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959724","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063378661","display_name":"Weibing Li","orcid":"https://orcid.org/0000-0002-7970-9076"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibing Li","raw_affiliation_strings":["Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067080066","display_name":"Xin Ma","orcid":"https://orcid.org/0000-0002-9325-6384"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xin Ma","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"226","last_page":"231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9575999975204468,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.527046263217926},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4778822958469391},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4617801606655121},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4546752870082855},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4539300501346588},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4422210454940796},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4293403625488281},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.42437541484832764}],"concepts":[{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.527046263217926},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4778822958469391},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4617801606655121},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4546752870082855},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4539300501346588},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4422210454940796},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4293403625488281},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.42437541484832764},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm54641.2022.9959724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959724","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321160","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W405308472","https://openalex.org/W2011332780","https://openalex.org/W2051521886","https://openalex.org/W2108658536","https://openalex.org/W2133702739","https://openalex.org/W2290966563","https://openalex.org/W2345244325","https://openalex.org/W2486697635","https://openalex.org/W2616170934","https://openalex.org/W2801910602","https://openalex.org/W2968043153","https://openalex.org/W2996951424","https://openalex.org/W3046389955","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2322281151","https://openalex.org/W2011094784"],"abstract_inverted_index":{"In":[0,97],"science":[1],"and":[2,26,67,85,94,118,154,170,185],"engineering,":[3],"especially":[4],"robotic":[5],"applications,":[6],"optimization":[7],"problems":[8,31,91,130,151,164],"including":[9],"quadratic":[10],"programming":[11],"(QP)":[12],"with":[13,92,131,192,212],"time-variant":[14,30,162],"coefficients":[15],"are":[16,156],"commonly":[17],"encountered.":[18],"Zeroing":[19],"neural":[20],"network":[21],"(ZNN)":[22],"is":[23,144],"a":[24,54,179],"systematic":[25],"effective":[27],"solution":[28],"to":[29,35,38,74,79,133,158],"solving.":[32],"However,":[33],"due":[34],"the":[36,98,106,122,189,200],"inability":[37],"handle":[39,75],"inequality":[40,76,95],"constraints,":[41,77],"conventional":[42],"ZNNs":[43,81,124],"can":[44,187],"only":[45],"solve":[46],"equality-constrained":[47],"QP":[48,90,129,150,163],"problems.":[49],"Aiming":[50],"at":[51],"overcoming":[52],"such":[53],"drawback,":[55],"recently,":[56],"three":[57,80,110,123],"techniques":[58],"using":[59],"slack":[60],"variable,":[61],"nonlinear":[62],"complementarity":[63],"problem":[64],"(NCP)":[65],"function,":[66],"penalty":[68],"function":[69],"have":[70],"been":[71],"successively":[72],"introduced":[73],"leading":[78],"(termed":[82],"SV-ZNN,":[83],"NCP-ZNN,":[84],"PF-ZNN":[86,186],"hereafter)":[87],"for":[88,125,148,161,175],"solving":[89,126],"equality":[93],"constraints.":[96],"literature,":[99],"there":[100],"exists":[101],"no":[102],"comparative":[103,141],"study":[104],"investigating":[105],"differences":[107],"between":[108],"these":[109],"ZNNs.":[111],"This":[112],"paper":[113],"focuses":[114],"on":[115],"this":[116],"gap":[117],"performs":[119],"comparisons":[120],"of":[121,136,178],"equality-and":[127],"inequality-constrained":[128],"applications":[132],"kinematic":[134,176],"control":[135,177],"joint-constrained":[137,180],"redundant":[138,181],"robots.":[139],"Through":[140],"investigations,":[142],"it":[143],"revealed":[145],"that":[146],"1)":[147],"time-invariant":[149],"solving,":[152,165],"SV-ZNN":[153,166,215],"NCP-ZNN":[155,171,184,193],"superior":[157],"PF-ZNN;":[159,173],"2)":[160],"suffers":[167,216],"from":[168,217],"failure,":[169],"outperforms":[172],"3)":[174],"robot,":[182],"both":[183],"complete":[188],"specified":[190],"task":[191,218],"enforcing":[194],"joint-limit":[195],"avoidance":[196],"more":[197],"stringently":[198],"(i.e.,":[199],"resolved":[201],"joint":[202],"variable":[203],"reaches":[204],"its":[205],"limit":[206],"tightly":[207],"without":[208],"violation)":[209],"as":[210],"compared":[211],"PF-ZNN,":[213],"whereas":[214],"failure.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}