Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

The global convergence of the BFGS method with a modified WWP line search for nonconvex functions

Numerical Algorithms - The BFGS method, which has great numerical stability, is one of the quasi-Newton line search methods. However, the global convergence of the BFGS method with a Wolfe line...     

Additive Hermitian idempotent preservers between operator algebras

Let L be an additive map between (real or complex) matrix algebras sending $n\times n$ Hermitian idempotent matrices to $m\times m$ Hermitian idempotent matrices. We show that there are nonnegative integers $p,q$ with $n(p+q)=r\le m$ and an $m\times m$ unitary matrix U such that$L(A)=U[(I_p?A)\oplus (I_q?A^t)\oplus 0_{m?r}]U^{?},\text{for any}n\times n\text{Hermitian}A\text{with rational trace}.$ We also extend this result to the (complex) von Neumann algebra setting, and provide a supplement to the Dye-Bunce-Wright Theorem asserting that every additive map of Hermitian idempotents extends to a Jordan ?-homomorphism.     

Wave turbulence and intermittency in directional wave fields

The evolution of surface gravity waves is driven by nonlinear interactions that trigger an energy cascade similarly to the one observed in hydrodynamic turbulence. This process, known as wave turbulence, has been found to display anomalous scaling with deviation from classical turbulent predictions due to the emergence of coherent and intermittent structures on the water surface. In the ocean, waves are spread over a wide range of directions, with a consequent attenuation of the nonlinear properties. A laboratory experiment in a large wave facility is presented to discuss the sensitivity of wave turbulence on the directional properties of model wave spectra. Results show that the occurrence of coherent and intermittent structures become less likely with the broadening of the wave directional spreading. There is no evidence, however, that intermittency completely vanishes.     

Limit cycle bifurcations near a double homoclinic loop with a nilpotent saddle of order m

In this paper, we study the explicit expansion of the first order Melnikov function near a double homoclinic loop passing through a nilpotent saddle of order m in a near-Hamiltonian system. For any positive integer $m(m\ge 1)$, we derive the formulas of the coefficients in the expansion, which can be used to study the limit cycle bifurcations for near-Hamiltonian systems. In particular, for $m=2$, we use the coefficients to consider the limit cycle bifurcations of general near-Hamiltonian systems and give the existence conditions for 10, 11, 13, 15 and 16 (11, 13 and 16, respectively) limit cycles in the case that the homoclinic loop is of cuspidal type (smooth type, respectively) and their distributions. As an application, we consider a near-Hamiltonian system with a nilpotent saddle of order 2 and obtain the lower bounds of the maximal number of limit cycles.     

The extremal irregularity of connected graphs with given number of pendant vertices

Czechoslovak Mathematical Journal - The irregularity of a graph G = (V, E) is defined as the sum of imbalances ∣du ? dv∣ over all edges uv ∈ E, where du denotes the degree...