A nowhere-zero k-flow on a graph G=(V(G),E(G))is a pair(D,f),where D is an orientation on E(G)and f:E(G)→{±1,±2,,±(k-1)}is a function such that the total outflow equals to the total inflow at each vert...A nowhere-zero k-flow on a graph G=(V(G),E(G))is a pair(D,f),where D is an orientation on E(G)and f:E(G)→{±1,±2,,±(k-1)}is a function such that the total outflow equals to the total inflow at each vertex.This concept was introduced by Tutte as an extension of face colorings,and Tutte in 1954 conjectured that every bridgeless graph admits a nowhere-zero 5-flow,known as the 5-Flow Conjecture.This conjecture is verified for some graph classes and remains unresolved as of today.In this paper,we show that every bridgeless graph of Euler genus at most 20 admits a nowhere-zero 5-flow,which improves several known results.展开更多
This study mainly focuses on the triangle bounded L⁃algebras and triangle ideals.Firstly,the definition of triangle bounded L⁃algebras is presented,and several examples with different conditions are outlined along wit...This study mainly focuses on the triangle bounded L⁃algebras and triangle ideals.Firstly,the definition of triangle bounded L⁃algebras is presented,and several examples with different conditions are outlined along with an exploration of their properties.Moreover,we investigate the structure of triangle bounded L⁃algebra with a special condition.Secondly,we define the concept of triangle ideals of triangle bounded L⁃algebra and explore the connection between the triangle ideals of triangle bounded L⁃algebra L and the ideals of bounded L⁃algebra E(L).In addition,we classified and studied various classes of triangle ideals,including Stonean triangle ideals,extended Stonean triangle ideals,and lattice ideals,and by introducing the notion of Stonean triangle bounded L algebras,we examine the relationship between Stonean triangle bounded L⁃algebras and Stonean triangle ideals.Finally,we investigate the interrelationships among these various types of triangle ideals.展开更多
Direct Thrust Control(DTC) is effective in dealing with the mismatch between thrust and rotor speed in traditional engine control. Among the DTC architecture, model-based thrust estimation method has less arithmetic c...Direct Thrust Control(DTC) is effective in dealing with the mismatch between thrust and rotor speed in traditional engine control. Among the DTC architecture, model-based thrust estimation method has less arithmetic consumption and better real-time performance. In this paper,a direct thrust controller design approach for gas turbine engine based on parameter dependent model is proposed. In order to ensure the stability of DTC control system based on parameter dependent model, there are usually conservatism detects. For the purpose of reducing the conservatism in the solution process of filter and controller, an Equilibrium Manifold Expansion(EME) model with bounded parameter variation of engine is established. The design conditions of Kalman filter for discrete-time EME system are introduced, and the proposed conditions have a certain suppression effect on the input noise of the system with bounded parameter variation.The engine thrust estimator stability and H∞filtering problems are solved by the polytopic quadratic Lyapunov function based on the Linear Matrix Inequalities(LMIs). To meet the performance requirements of thrust control, the Grey Wolf Optimization(GWO) algorithm is applied to optimize the PID control parameters. The proposed method is verified on a Hardware-in-Loop(HIL) platform. The simulation results demonstrate that the DTC framework can ensure the stability of engine closed-loop system in large range deviation tests. The filter and controller solution method considering the parameter variation boundary can obtain a solution that makes the system have better performance parameters. Moreover, the proposed filter has better thrust estimation performance than the traditional Kalman filter under the condition of sensor noise. Compared with Augmented Linear Quadratic Regulator(ALQR) controller, the PID controller optimized by GWO has a faster response in simulation.展开更多
Delay aware routing is now widely used to provide efficient network transmission. However, for newly developing or developed mobile communication networks(MCN), only limited delay data can be obtained. In such a netwo...Delay aware routing is now widely used to provide efficient network transmission. However, for newly developing or developed mobile communication networks(MCN), only limited delay data can be obtained. In such a network, the delay is with epistemic uncertainty, which makes the traditional routing scheme based on deterministic theory or probability theory not applicable. Motivated by this problem, the MCN with epistemic uncertainty is first summarized as a dynamic uncertain network based on uncertainty theory, which is widely applied to model epistemic uncertainties. Then by modeling the uncertain end-toend delay, a new delay bounded routing scheme is proposed to find the path with the maximum belief degree that satisfies the delay threshold for the dynamic uncertain network. Finally, a lowEarth-orbit satellite communication network(LEO-SCN) is used as a case to verify the effectiveness of our routing scheme. It is first modeled as a dynamic uncertain network, and then the delay bounded paths with the maximum belief degree are computed and compared under different delay thresholds.展开更多
In order to find the completeness threshold which offers a practical method of making bounded model checking complete, the over-approximation for the complete threshold is presented. First, a linear logic of knowledge...In order to find the completeness threshold which offers a practical method of making bounded model checking complete, the over-approximation for the complete threshold is presented. First, a linear logic of knowledge is introduced into the past tense operator, and then a new temporal epistemic logic LTLKP is obtained, so that LTLKP can naturally and precisely describe the system＇s reliability. Secondly, a set of prior algorithms are designed to calculate the maximal reachable depth and the length of the longest of loop free paths in the structure based on the graph structure theory. Finally, some theorems are proposed to show how to approximate the complete threshold with the diameter and recurrence diameter. The proposed work resolves the completeness threshold problem so that the completeness of bounded model checking can be guaranteed.展开更多
Let (E,ξ）=indlim (En,ξn） be an inductive limit of a sequence of locally convex spaces,For brevity,denote by (DS) each set Bbounded in (E,ξ） is contained in some En； and (DST) each set B bounded in (E,ξ） is co...Let (E,ξ）=indlim (En,ξn） be an inductive limit of a sequence of locally convex spaces,For brevity,denote by (DS) each set Bbounded in (E,ξ） is contained in some En； and (DST) each set B bounded in (E,ξ） is contained and bounded in some (En,ξn）. Theovem 1.(DS) holds provided that (i) for each n∈N,there is a neighborhood Un of o in (En,ξn） and m(n)∈ such that -↑Un^E包含于Em(n),and (ii) for any neighborhood V n of o in (En,ξn）,∞↑Un=1 Vn absorbs every bounded set in (E,ξ）. theorem 2 Let all (En,ξn） be metrizable and (DS) hold,then for each bounded set B IN (E,ξ）and each n ∈N thcrc is a neighborhood U k of o in (Ek,ξk）, 1≤k≤n ,and m(n)∈N such that ——↑(B+U1+U2+…+Un)^E包含于 Em(n). theorem 3. Let all (En,ξn） be Frechet spaces.Then (DST) holds if and only if (i) for each n ∈N,there is u neighborhood U n of in (En,ξn） and m(n)∈N such that 0↑Un^E包含于Em(n),and (ii) for each each closed ,absosed,absolutely conuex,bounded set B in (E,ξ）,∞↑Un=1(（εnB)∩Un）absorbs B,where U n is any neighborhood of o in (En,ξn） and εn is any positive number for every n ∈N。展开更多
In this paper,the flight formation control problem of a group of quadrotor unmanned aerial vehicles（UAVs） with parametric uncertainties and external disturbances is studied.Unitquaternions are used to represent the ...In this paper,the flight formation control problem of a group of quadrotor unmanned aerial vehicles（UAVs） with parametric uncertainties and external disturbances is studied.Unitquaternions are used to represent the attitudes of the quadrotor UAVs.Separating the model into a translational subsystem and a rotational subsystem,an intermediary control input is introduced to track a desired velocity and extract desired orientations.Then considering the internal parametric uncertainties and external disturbances of the quadrotor UAVs,the priori-bounded intermediary adaptive control input is designed for velocity tracking and formation keeping,by which the bounded control thrust and the desired orientation can be extracted.Thereafter,an adaptive control torque input is designed for the rotational subsystem to track the desired orientation.With the proposed control scheme,the desired velocity is tracked and a desired formation shape is built up.Global stability of the closed-loop system is proven via Lyapunov-based stability analysis.Numerical simulation results are presented to illustrate the effectiveness of the proposed control scheme.展开更多
Space robotics is regarded as one of the most impressing approaches for space debris removal missions. Due to the residual momentum of debris, it is essential to stabilize the base rapidly after capture. This paper pr...Space robotics is regarded as one of the most impressing approaches for space debris removal missions. Due to the residual momentum of debris, it is essential to stabilize the base rapidly after capture. This paper presents a novel control strategy for stabilization of a space robot in postcapture considering actuator failures and bounded torques. In the control strategy, the motion of the manipulator is not regarded as a disturbance to the base; in contrast, it is utilized to compensate for the limitation of the control torques by means of an inverse dynamical model of the system. Different scenarios where actuators are external mechanisms or momentum exchange devices have been carried out, and for actuator failures, both single-and two-actuator failures have been considered. Regarding to the performance of actuators, control torques are bounded. In cases that either single or two actuators have failed, the base can be stabilized kinematically when actuators are external mechanisms, but can only be stabilized dynamically when only momentum exchange devices are used. Finally, a space robot with a seven-degree-of-freedom manipulator in postcapture is studied to verify the validity and feasibility of the proposed control scheme. Simulation results show that the whole system can be stabilized rapidly.展开更多
In this article, the globally bounded in-time pointwise estimate of solutions to the simplified Keller-Segel system modelling chemotaxis are derived. Moreover, a local existence theorem is obtained.
Linearized shallow water perturbation equations with approximation in an equatorial β plane are used to obtain the analytical solution of wave packet anomalies in the upper bounded equatorial ocean. The main results ...Linearized shallow water perturbation equations with approximation in an equatorial β plane are used to obtain the analytical solution of wave packet anomalies in the upper bounded equatorial ocean. The main results are as follows. The wave packet is a superposition of eastward travelling Kelvin waves and westward travelling Rossby waves with the slowest speed, and satisfies the boundary conditions of eastern and western coasts, respectively.The decay coefficient of this solution to the north and south sides of the equator is inversely proportional only to the phase velocity of Kelvin waves in the upper water. The oscillation frequency of the wave packet, which is also the natural frequency of the ocean, is proportional to its mode number and the phase velocity of Kelvin waves and is inversely proportional to the length of the equatorial ocean in the east-west direction. The flow anomalies of the wave packet of Mode 1 most of the time appear as zonal flows with the same direction. They reach the maximum at the center of the equatorial ocean and decay rapidly away from the equator, manifested as equatorially trapped waves. The flow anomalies of the wave packet of Mode 2 appear as the zonal flows with the same direction most of the time in half of the ocean, and are always 0 at the center of the entire ocean which indicates stagnation, while decaying away from the equator with the same speed as that of Mode 1. The spatial structure and oscillation period of the wave packet solution of Mode 1 and Mode 2 are consistent with the changing periods of the surface spatial field and time coefficient of the first and second modes of complex empirical orthogonal function(EOF)analysis of flow anomalies in the actual equatorial ocean. This indicates that the solution does exist in the real ocean, and that El Ni?o-Southern Oscillation(ENSO) and Indian Ocean dipole(IOD) are both related to Mode 2.After considering the Indonesian throughflow, we can obtain the length of bounded equatorial ocean by taking the sum of that of the tropical Indian Ocean and the tropical Pacific Ocean, thus this wave packet can also explain the decadal variability(about 20 a) of the equatorial Pacific and Indian Oceans.展开更多
In this paper, we investigate a new perturbation theorem for the Moore-Penrose metric generalized inverses of a bounded linear operator in Banach space. The main tool in this paper is ＂the generalized Neumann lemma＂...In this paper, we investigate a new perturbation theorem for the Moore-Penrose metric generalized inverses of a bounded linear operator in Banach space. The main tool in this paper is ＂the generalized Neumann lemma＂ which is quite different from the method in [12] where ＂the generalized Banach lemma＂ was used. By the method of the perturba- tion analysis of bounded linear operators, we obtain an explicit perturbation theorem and three inequalities about error estimates for the Moore-Penrose metric generalized inverse of bounded linear operator under the generalized Neumann lemma and the concept of stable perturbations in Banach spaces.展开更多
LetΩ be a bounded symmetric domain in Cn. The purpose of this article is to define and characterize the general function space F（p, q, s） on Ω. Characterizing functions in the F（p, q, s） space is a work of consi...LetΩ be a bounded symmetric domain in Cn. The purpose of this article is to define and characterize the general function space F（p, q, s） on Ω. Characterizing functions in the F（p, q, s） space is a work of considerable interest nowadays. In this article, the authors give several equivalent descriptions of the functions in the F（p, q, s） space on Ω in terms of fractional differential operators. At the same time, the authors give the relationship between F（p, q, s） space and Bloch type space on Ω too.展开更多
This paper studies a distributed optimal consensus problem for multiple double integrators under bounded velocity and acceleration. Assigned with an in dividual and private convex cost which is dependent on the positi...This paper studies a distributed optimal consensus problem for multiple double integrators under bounded velocity and acceleration. Assigned with an in dividual and private convex cost which is dependent on the position, each age nt n eeds to achieve consensus at the optimum of the aggregate cost under bounded velocity and acceleration. Based on relative positions and velocities to neighbor agents, we design a distributed control law by including the integration feedback of position and velocity errors. By employing quadratic Lyapunov functions, we solve the optimal consensus problem of double-integrators when the fixed topology is strongly connected and weight-balanced. Furthermore, if an initial estimate of the optimum can be known, then control gains can be properly selected to achieve an exponentially fast convergence under bounded velocity and acceleration. The result still holds when the relative velocity is not available, and we also discuss an extension for heterogeneous Euler-Lagrange systems by in verse dynamics control. A nu meric example is provided to illustrate the result.展开更多
By Mobile Edge Computing(MEC), computation-intensive tasks are offloaded from mobile devices to cloud servers, and thus the energy consumption of mobile devices can be notably reduced. In this paper, we study task off...By Mobile Edge Computing(MEC), computation-intensive tasks are offloaded from mobile devices to cloud servers, and thus the energy consumption of mobile devices can be notably reduced. In this paper, we study task offloading in multi-user MEC systems with heterogeneous clouds, including edge clouds and remote clouds. Tasks are forwarded from mobile devices to edge clouds via wireless channels, and they can be further forwarded to remote clouds via the Internet. Our objective is to minimize the total energy consumption of multiple mobile devices, subject to bounded-delay requirements of tasks. Based on dynamic programming, we propose an algorithm that minimizes the energy consumption, by jointly allocating bandwidth and computational resources to mobile devices. The algorithm is of pseudo-polynomial complexity. To further reduce the complexity, we propose an approximation algorithm with energy discretization, and its total energy consumption is proved to be within a bounded gap from the optimum. Simulation results show that, nearly 82.7% energy of mobile devices can be saved by task offloading compared with mobile device execution.展开更多
This paper investigates the problem of global attitude regulation control for a rigid spacecraft under input saturation. Based on the technique of finite-time control and the switching control method, a novel global b...This paper investigates the problem of global attitude regulation control for a rigid spacecraft under input saturation. Based on the technique of finite-time control and the switching control method, a novel global bounded finite-time attitude regulation controller is proposed. Under the proposed controller, it is shown that the spacecraft attitude can reach the desired attitude in a finite time. In addition, the bound of a proposed attitude controller can be adjusted to any small level to accommodate the actuation bound in practical implementation.展开更多
A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. ...A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. The fixed time convergence theory is incorporated with the sliding mode control technique to ensure that the system tracks the desired command within uniform bounded time under different initial conditions. Unlike previous terminal sliding mode approaches, the bound of settling time is independent of the initial state, which means performance metrics like convergence rate can be predicted beforehand. To reduce the burden of control design in terms of robustness, extended state observer(ESO) is introduced for uncertainty estimation with the output substituted into the controller as feedforward compensation. Cascade control structure is employed with the proposed control law and therein the compound control signal is obtained.Afterwards, control inputs for two kinds of actuators are allocated on the basis of their inherent characteristics. Finally, a number of simulations are carried out and demonstrate the effectiveness of the designed controller.展开更多
The incompressible limit of the non-isentropic magnetohydrodynamic equations with zero thermal coefficient, in a two dimensional bounded domain with the Dirichlet condi- tion for velocity and perfectly conducting boun...The incompressible limit of the non-isentropic magnetohydrodynamic equations with zero thermal coefficient, in a two dimensional bounded domain with the Dirichlet condi- tion for velocity and perfectly conducting boundary condition for magnetic field, is rigorously justified.展开更多
The strict bounded real lemma for linear system with finite discrete jumps was considered. Especially, the case where D matrices in the system are not assumed to be zero was dealt. Several versions of the bounded real...The strict bounded real lemma for linear system with finite discrete jumps was considered. Especially, the case where D matrices in the system are not assumed to be zero was dealt. Several versions of the bounded real lemma are presented in terms of solution to Riccati differential equations or inequalities with finite discrete jumps. Both the finite and infinite horizon cases are considered. These results generalize the existed bounded real lemma for linear systems.展开更多
This paper investigates the stochastic bounded consensus of leader-following second-order multi-agent systems in a noisy environment. It is assumed that each agent received the information of its neighbors corrupted b...This paper investigates the stochastic bounded consensus of leader-following second-order multi-agent systems in a noisy environment. It is assumed that each agent received the information of its neighbors corrupted by noises and time delays. Based on the graph theory, stochastic tools, and the Lyapunov function method, we derive the sufficient conditions under which the systems would reach stochastic bounded consensus in mean square with the protocol we designed. Finally, a numerical simulation is illustrated to check the effectiveness of the proposed algorithms.展开更多
文摘A nowhere-zero k-flow on a graph G=(V(G),E(G))is a pair(D,f),where D is an orientation on E(G)and f:E(G)→{±1,±2,,±(k-1)}is a function such that the total outflow equals to the total inflow at each vertex.This concept was introduced by Tutte as an extension of face colorings,and Tutte in 1954 conjectured that every bridgeless graph admits a nowhere-zero 5-flow,known as the 5-Flow Conjecture.This conjecture is verified for some graph classes and remains unresolved as of today.In this paper,we show that every bridgeless graph of Euler genus at most 20 admits a nowhere-zero 5-flow,which improves several known results.
基金Sponsored by Foreign Expert Program of China(Grant No.DL2023041002L)Yulin City Industry University Research Project(Grant No.CXY-2022-59).
文摘This study mainly focuses on the triangle bounded L⁃algebras and triangle ideals.Firstly,the definition of triangle bounded L⁃algebras is presented,and several examples with different conditions are outlined along with an exploration of their properties.Moreover,we investigate the structure of triangle bounded L⁃algebra with a special condition.Secondly,we define the concept of triangle ideals of triangle bounded L⁃algebra and explore the connection between the triangle ideals of triangle bounded L⁃algebra L and the ideals of bounded L⁃algebra E(L).In addition,we classified and studied various classes of triangle ideals,including Stonean triangle ideals,extended Stonean triangle ideals,and lattice ideals,and by introducing the notion of Stonean triangle bounded L algebras,we examine the relationship between Stonean triangle bounded L⁃algebras and Stonean triangle ideals.Finally,we investigate the interrelationships among these various types of triangle ideals.
基金supported by the National Natural Science Foundation of China(No.52372371)the Science Center for Gas Turbine Project,China(Nos.P2022-B-V-002-001,P2022-B-V-001-001).
文摘Direct Thrust Control(DTC) is effective in dealing with the mismatch between thrust and rotor speed in traditional engine control. Among the DTC architecture, model-based thrust estimation method has less arithmetic consumption and better real-time performance. In this paper,a direct thrust controller design approach for gas turbine engine based on parameter dependent model is proposed. In order to ensure the stability of DTC control system based on parameter dependent model, there are usually conservatism detects. For the purpose of reducing the conservatism in the solution process of filter and controller, an Equilibrium Manifold Expansion(EME) model with bounded parameter variation of engine is established. The design conditions of Kalman filter for discrete-time EME system are introduced, and the proposed conditions have a certain suppression effect on the input noise of the system with bounded parameter variation.The engine thrust estimator stability and H∞filtering problems are solved by the polytopic quadratic Lyapunov function based on the Linear Matrix Inequalities(LMIs). To meet the performance requirements of thrust control, the Grey Wolf Optimization(GWO) algorithm is applied to optimize the PID control parameters. The proposed method is verified on a Hardware-in-Loop(HIL) platform. The simulation results demonstrate that the DTC framework can ensure the stability of engine closed-loop system in large range deviation tests. The filter and controller solution method considering the parameter variation boundary can obtain a solution that makes the system have better performance parameters. Moreover, the proposed filter has better thrust estimation performance than the traditional Kalman filter under the condition of sensor noise. Compared with Augmented Linear Quadratic Regulator(ALQR) controller, the PID controller optimized by GWO has a faster response in simulation.
基金National Natural Science Foundation of China (61773044,62073009)National key Laboratory of Science and Technology on Reliability and Environmental Engineering(WDZC2019601A301)。
文摘Delay aware routing is now widely used to provide efficient network transmission. However, for newly developing or developed mobile communication networks(MCN), only limited delay data can be obtained. In such a network, the delay is with epistemic uncertainty, which makes the traditional routing scheme based on deterministic theory or probability theory not applicable. Motivated by this problem, the MCN with epistemic uncertainty is first summarized as a dynamic uncertain network based on uncertainty theory, which is widely applied to model epistemic uncertainties. Then by modeling the uncertain end-toend delay, a new delay bounded routing scheme is proposed to find the path with the maximum belief degree that satisfies the delay threshold for the dynamic uncertain network. Finally, a lowEarth-orbit satellite communication network(LEO-SCN) is used as a case to verify the effectiveness of our routing scheme. It is first modeled as a dynamic uncertain network, and then the delay bounded paths with the maximum belief degree are computed and compared under different delay thresholds.
基金The National Natural Science Foundation of China (No.10974093)the Scientific Research Foundation for Senior Personnel of Jiangsu University (No.07JDG014)the Natural Science Foundation of Higher Education Institutions of Jiangsu Province (No.08KJD520015)
文摘In order to find the completeness threshold which offers a practical method of making bounded model checking complete, the over-approximation for the complete threshold is presented. First, a linear logic of knowledge is introduced into the past tense operator, and then a new temporal epistemic logic LTLKP is obtained, so that LTLKP can naturally and precisely describe the system＇s reliability. Secondly, a set of prior algorithms are designed to calculate the maximal reachable depth and the length of the longest of loop free paths in the structure based on the graph structure theory. Finally, some theorems are proposed to show how to approximate the complete threshold with the diameter and recurrence diameter. The proposed work resolves the completeness threshold problem so that the completeness of bounded model checking can be guaranteed.
文摘Let (E,ξ）=indlim (En,ξn） be an inductive limit of a sequence of locally convex spaces,For brevity,denote by (DS) each set Bbounded in (E,ξ） is contained in some En； and (DST) each set B bounded in (E,ξ） is contained and bounded in some (En,ξn）. Theovem 1.(DS) holds provided that (i) for each n∈N,there is a neighborhood Un of o in (En,ξn） and m(n)∈ such that -↑Un^E包含于Em(n),and (ii) for any neighborhood V n of o in (En,ξn）,∞↑Un=1 Vn absorbs every bounded set in (E,ξ）. theorem 2 Let all (En,ξn） be metrizable and (DS) hold,then for each bounded set B IN (E,ξ）and each n ∈N thcrc is a neighborhood U k of o in (Ek,ξk）, 1≤k≤n ,and m(n)∈N such that ——↑(B+U1+U2+…+Un)^E包含于 Em(n). theorem 3. Let all (En,ξn） be Frechet spaces.Then (DST) holds if and only if (i) for each n ∈N,there is u neighborhood U n of in (En,ξn） and m(n)∈N such that 0↑Un^E包含于Em(n),and (ii) for each each closed ,absosed,absolutely conuex,bounded set B in (E,ξ）,∞↑Un=1(（εnB)∩Un）absorbs B,where U n is any neighborhood of o in (En,ξn） and εn is any positive number for every n ∈N。
基金supported by the National Natural Science Foundation of China(No.61374048)
文摘In this paper,the flight formation control problem of a group of quadrotor unmanned aerial vehicles（UAVs） with parametric uncertainties and external disturbances is studied.Unitquaternions are used to represent the attitudes of the quadrotor UAVs.Separating the model into a translational subsystem and a rotational subsystem,an intermediary control input is introduced to track a desired velocity and extract desired orientations.Then considering the internal parametric uncertainties and external disturbances of the quadrotor UAVs,the priori-bounded intermediary adaptive control input is designed for velocity tracking and formation keeping,by which the bounded control thrust and the desired orientation can be extracted.Thereafter,an adaptive control torque input is designed for the rotational subsystem to track the desired orientation.With the proposed control scheme,the desired velocity is tracked and a desired formation shape is built up.Global stability of the closed-loop system is proven via Lyapunov-based stability analysis.Numerical simulation results are presented to illustrate the effectiveness of the proposed control scheme.
基金co-supported by the National Natural Science Foundation of China (Nos. 11402200 and 11502203)the China Scholarship Council (CSC)
文摘Space robotics is regarded as one of the most impressing approaches for space debris removal missions. Due to the residual momentum of debris, it is essential to stabilize the base rapidly after capture. This paper presents a novel control strategy for stabilization of a space robot in postcapture considering actuator failures and bounded torques. In the control strategy, the motion of the manipulator is not regarded as a disturbance to the base; in contrast, it is utilized to compensate for the limitation of the control torques by means of an inverse dynamical model of the system. Different scenarios where actuators are external mechanisms or momentum exchange devices have been carried out, and for actuator failures, both single-and two-actuator failures have been considered. Regarding to the performance of actuators, control torques are bounded. In cases that either single or two actuators have failed, the base can be stabilized kinematically when actuators are external mechanisms, but can only be stabilized dynamically when only momentum exchange devices are used. Finally, a space robot with a seven-degree-of-freedom manipulator in postcapture is studied to verify the validity and feasibility of the proposed control scheme. Simulation results show that the whole system can be stabilized rapidly.
基金Supported by the NSF of Jiangxi Province, the NSFC (10225105, 10671023) and a CAEP grant
文摘In this article, the globally bounded in-time pointwise estimate of solutions to the simplified Keller-Segel system modelling chemotaxis are derived. Moreover, a local existence theorem is obtained.
基金The National Major Research High Performance Computing Program of China under contract 2016YFB0200800the Strategic Priority Research Program of Chinese Academy of Sciences under contract No.XDA20060501
文摘Linearized shallow water perturbation equations with approximation in an equatorial β plane are used to obtain the analytical solution of wave packet anomalies in the upper bounded equatorial ocean. The main results are as follows. The wave packet is a superposition of eastward travelling Kelvin waves and westward travelling Rossby waves with the slowest speed, and satisfies the boundary conditions of eastern and western coasts, respectively.The decay coefficient of this solution to the north and south sides of the equator is inversely proportional only to the phase velocity of Kelvin waves in the upper water. The oscillation frequency of the wave packet, which is also the natural frequency of the ocean, is proportional to its mode number and the phase velocity of Kelvin waves and is inversely proportional to the length of the equatorial ocean in the east-west direction. The flow anomalies of the wave packet of Mode 1 most of the time appear as zonal flows with the same direction. They reach the maximum at the center of the equatorial ocean and decay rapidly away from the equator, manifested as equatorially trapped waves. The flow anomalies of the wave packet of Mode 2 appear as the zonal flows with the same direction most of the time in half of the ocean, and are always 0 at the center of the entire ocean which indicates stagnation, while decaying away from the equator with the same speed as that of Mode 1. The spatial structure and oscillation period of the wave packet solution of Mode 1 and Mode 2 are consistent with the changing periods of the surface spatial field and time coefficient of the first and second modes of complex empirical orthogonal function(EOF)analysis of flow anomalies in the actual equatorial ocean. This indicates that the solution does exist in the real ocean, and that El Ni?o-Southern Oscillation(ENSO) and Indian Ocean dipole(IOD) are both related to Mode 2.After considering the Indonesian throughflow, we can obtain the length of bounded equatorial ocean by taking the sum of that of the tropical Indian Ocean and the tropical Pacific Ocean, thus this wave packet can also explain the decadal variability(about 20 a) of the equatorial Pacific and Indian Oceans.
基金Supported by the Nature Science Foundation of China(11471091 and 11401143)
文摘In this paper, we investigate a new perturbation theorem for the Moore-Penrose metric generalized inverses of a bounded linear operator in Banach space. The main tool in this paper is ＂the generalized Neumann lemma＂ which is quite different from the method in [12] where ＂the generalized Banach lemma＂ was used. By the method of the perturba- tion analysis of bounded linear operators, we obtain an explicit perturbation theorem and three inequalities about error estimates for the Moore-Penrose metric generalized inverse of bounded linear operator under the generalized Neumann lemma and the concept of stable perturbations in Banach spaces.
基金supported by the National Natural Science Foundation of China(11571104)the Hunan Provincial Innovation Foundation for Postgraduate(CX2017B220)Supported by the Construct Program of the Key Discipline in Hunan Province
文摘LetΩ be a bounded symmetric domain in Cn. The purpose of this article is to define and characterize the general function space F（p, q, s） on Ω. Characterizing functions in the F（p, q, s） space is a work of considerable interest nowadays. In this article, the authors give several equivalent descriptions of the functions in the F（p, q, s） space on Ω in terms of fractional differential operators. At the same time, the authors give the relationship between F（p, q, s） space and Bloch type space on Ω too.
文摘This paper studies a distributed optimal consensus problem for multiple double integrators under bounded velocity and acceleration. Assigned with an in dividual and private convex cost which is dependent on the position, each age nt n eeds to achieve consensus at the optimum of the aggregate cost under bounded velocity and acceleration. Based on relative positions and velocities to neighbor agents, we design a distributed control law by including the integration feedback of position and velocity errors. By employing quadratic Lyapunov functions, we solve the optimal consensus problem of double-integrators when the fixed topology is strongly connected and weight-balanced. Furthermore, if an initial estimate of the optimum can be known, then control gains can be properly selected to achieve an exponentially fast convergence under bounded velocity and acceleration. The result still holds when the relative velocity is not available, and we also discuss an extension for heterogeneous Euler-Lagrange systems by in verse dynamics control. A nu meric example is provided to illustrate the result.
基金the National Key R&D Program of China 2018YFB1800804the Nature Science Foundation of China (No. 61871254,No. 61861136003,No. 91638204)Hitachi Ltd.
文摘By Mobile Edge Computing(MEC), computation-intensive tasks are offloaded from mobile devices to cloud servers, and thus the energy consumption of mobile devices can be notably reduced. In this paper, we study task offloading in multi-user MEC systems with heterogeneous clouds, including edge clouds and remote clouds. Tasks are forwarded from mobile devices to edge clouds via wireless channels, and they can be further forwarded to remote clouds via the Internet. Our objective is to minimize the total energy consumption of multiple mobile devices, subject to bounded-delay requirements of tasks. Based on dynamic programming, we propose an algorithm that minimizes the energy consumption, by jointly allocating bandwidth and computational resources to mobile devices. The algorithm is of pseudo-polynomial complexity. To further reduce the complexity, we propose an approximation algorithm with energy discretization, and its total energy consumption is proved to be within a bounded gap from the optimum. Simulation results show that, nearly 82.7% energy of mobile devices can be saved by task offloading compared with mobile device execution.
基金This work was supported by the National Natural Science Foundation of China （Nos, 61304007, 61673153）, the Ph.D. Programs Foundation of Ministry of Education of China （No. 20130111120007） and the China Postdoctoral Science Foundation Funded Project （Nos. 2012M521217, 2014T70584）.
文摘This paper investigates the problem of global attitude regulation control for a rigid spacecraft under input saturation. Based on the technique of finite-time control and the switching control method, a novel global bounded finite-time attitude regulation controller is proposed. Under the proposed controller, it is shown that the spacecraft attitude can reach the desired attitude in a finite time. In addition, the bound of a proposed attitude controller can be adjusted to any small level to accommodate the actuation bound in practical implementation.
基金supported by the National Natural Science Foundation of China(11572036)
文摘A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. The fixed time convergence theory is incorporated with the sliding mode control technique to ensure that the system tracks the desired command within uniform bounded time under different initial conditions. Unlike previous terminal sliding mode approaches, the bound of settling time is independent of the initial state, which means performance metrics like convergence rate can be predicted beforehand. To reduce the burden of control design in terms of robustness, extended state observer(ESO) is introduced for uncertainty estimation with the output substituted into the controller as feedforward compensation. Cascade control structure is employed with the proposed control law and therein the compound control signal is obtained.Afterwards, control inputs for two kinds of actuators are allocated on the basis of their inherent characteristics. Finally, a number of simulations are carried out and demonstrate the effectiveness of the designed controller.
基金supported by NSFC(11371042)China 973 program(2011 CB808002)+2 种基金BSFC(1132006)CIT&TCD(20130312)the fund of the Beijing Education Committee(KZ 201210005005)
文摘The incompressible limit of the non-isentropic magnetohydrodynamic equations with zero thermal coefficient, in a two dimensional bounded domain with the Dirichlet condi- tion for velocity and perfectly conducting boundary condition for magnetic field, is rigorously justified.
基金National Natural Science Foundation of China(No.60274058)
文摘The strict bounded real lemma for linear system with finite discrete jumps was considered. Especially, the case where D matrices in the system are not assumed to be zero was dealt. Several versions of the bounded real lemma are presented in terms of solution to Riccati differential equations or inequalities with finite discrete jumps. Both the finite and infinite horizon cases are considered. These results generalize the existed bounded real lemma for linear systems.
基金supported by the National Natural Science Foundation of China(Grant Nos.61573156,61273126,61503142,61272382,and 61573154)the Fundamental Research Funds for the Central Universities(Grant No.x2zd D2153620)
文摘This paper investigates the stochastic bounded consensus of leader-following second-order multi-agent systems in a noisy environment. It is assumed that each agent received the information of its neighbors corrupted by noises and time delays. Based on the graph theory, stochastic tools, and the Lyapunov function method, we derive the sufficient conditions under which the systems would reach stochastic bounded consensus in mean square with the protocol we designed. Finally, a numerical simulation is illustrated to check the effectiveness of the proposed algorithms.
