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 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...     

Double Gaussian potential stochastic resonance method and its application in centrifugal fan blade crack detection

Stochastic resonance (SR) has been extensively utilized in the field of weak fault signal detection for its characteristic of enhancing weak signals by transferring the noise energy. Aiming at solving the output saturation problem of the classical bistable stochastic resonance (CBSR) system, a double Gaussian potential stochastic resonance (DGSR) system is proposed. Moreover, the output signal-to-noise ratio (SNR) of the DGSR method is derived based on the adiabatic approximation theory to analyze the effect of system parameters on the DGSR method. At the same time, for the purpose of overcoming the drawback that the traditional SNR index needs to know the fault characteristic frequency (FCF), the weighted local signal-to-noise ratio (WLSNR) index is constructed. The DGSR with WLSNR can obtain optimal parameters adaptively, thereby establishing the DGSR system. Ultimately, a DGSR method is proposed and applied in centrifugal fan blade crack detection. Through simulations and experiments, the effectiveness and superiority of the DGSR method are verified.     

Flatness,plateau limit and limit length of single-plateau functions

In this paper we consider iteration of single-plateau functions, an important class of continuous functions with infinitely many forts, and investigate changes of number and length of plateaux under iteration.We use the indices flatness, plateau limit and limit length to formulate those changes. Furthermore, we compute the flatness, plateau limit and limit length for all the nine types of single-plateau functions.