Skip to main content

Time-Varying Matrix Right Pseudoinverse

  • Chapter
  • First Online:
Zhang Functions and Various Models
  • 610 Accesses

Abstract

In Chap. 8, different ZD models based on ZFs have been presented for time-varying matrix left pseudoinversion. Being another case study of pseudoinverse for a time-varying rectangular matrix, in this chapter, by introducing four different ZFs, four different ZD models are proposed, generalized, developed, and investigated for time-varying right pseudoinversion. In addition, the link between the ZD models and the Getz-Marsden (G-M) dynamic system is discovered and presented to solve for time-varying matrix right pseudoinverse. Theoretical results and computer simulations with three illustrative examples are provided to further substantiate the excellent convergence performance of the proposed ZD models for time-varying matrix right pseudoinversion.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 54.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Fieguth PW, Menemenlis D, Fukumori I (2003) Mapping and pseudoinverse algorithms for ocean data assimilation. IEEE Trans Geosci Remote Sens 41(1):43–51

    Article  Google Scholar 

  2. Park J, Choi Y, Chung WK, Youm Y (2001) Multiple tasks kinematics using weighted pseudo-inverse for kinematically redundant manipulators. In: Proceedings of the IEEE conference on robotics and automation, pp 4041–4047

    Google Scholar 

  3. Hu J, Qian S, Ding Y (2010) Improved pseudoinverse algorithm and its application in controlling acoustic field generated by phased array. J Syst Simul 22(5):1111–1116

    Google Scholar 

  4. Dean P, Porrill J (1998) Pseudo-inverse control in biological systems: a learning mechanism for fixation stability. Neural Netw 11(7–8):1205–1218

    Article  Google Scholar 

  5. Guo P, Lyu MR (2004) A pseudoinverse learning algorithm for feedforward neural networks with stacked generalization applications to software reliability growth data. Neurocomputing 56:101–121

    Article  Google Scholar 

  6. Guo D, Zhang Y (2014) Li-function activated ZNN with finite-time convergence applied to redundant-manipulator kinematic control via time-varying Jacobian matrix pseudoinversion. Appl Soft Comput 24:158–168

    Article  Google Scholar 

  7. Klein CA, Kee KB (1989) The nature of drift in pseudoinverse control of kinematically redundant manipulators. IEEE Trans Robot Autom 5(2):231–234

    Article  Google Scholar 

  8. Zhang Y, Guo D, Ma S (2013) Different-level simultaneous minimization of joint-velocity and joint-torque for redundant robot manipulators. J Intell Robot Syst 72(3–4):301–323

    Article  Google Scholar 

  9. Wei Y, Cai J, Ng MK (2004) Computing Moore-Penrose inverses of Toeplitz matrices by Newton’s iteration. Math Comput Model 40(1–2):181–191

    Article  MATH  MathSciNet  Google Scholar 

  10. Wang J (1997) Recurrent neural networks for computing pseudoinverses of rank-deficient matrices. SIAM J Sci Comput 19(5):1479–1493

    Article  Google Scholar 

  11. Getz NH, Marsden JE (1995) A dynamic inverse for nonlinear maps. In: Proceedings of 34th IEEE conference on decision and control, pp 4218–4223

    Google Scholar 

  12. Getz NH, Marsden JE (1995) Joint-space tracking of workspace trajectories in continuous time. In: Proceedings of 34th IEEE conference on decision and control, pp 1001–1006

    Google Scholar 

  13. Getz NH, Marsden JE (1997) Dynamical methods for polar decomposition and inversion of matrices. Linear Algorithm Appl 258:311–343

    Article  MATH  MathSciNet  Google Scholar 

  14. Zhang Y, Yang Y, Tan N, Cai B (2011) Zhang neural network solving for time-varying full-rank matrix Moore-Penrose inverse. Computing 92(2):97–121

    Article  MATH  MathSciNet  Google Scholar 

  15. Zhang Y, Yi C (2011) Zhang neural networks and neural-dynamic method. Nova Science Publishers, New York

    Google Scholar 

  16. Zhang Y, Xie Y, Tan H (2012) Time-varying Moore-Penrose inverse solving shows different Zhang functions leading to different ZNN models. Lect Notes Comput Sci 7367:98–105

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Yunong Zhang .

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Zhang, Y., Guo, D. (2015). Time-Varying Matrix Right Pseudoinverse. In: Zhang Functions and Various Models. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-47334-4_9

Download citation

  • DOI: https://doi.org/10.1007/978-3-662-47334-4_9

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-47333-7

  • Online ISBN: 978-3-662-47334-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics