道路约束条件下的移动机器人跟踪

为提高移动机器人的位置估计精度和跟踪效果,提出一种基于道路约束条件下的移动机器人鲁棒约束H∞滤波(CHF)跟踪算法.首先,将机器人移动的道路网络作为跟踪的约束条件,并利用当前统计模型对机器人的运动进行建模.其次,将道路约束条件作为机器人跟踪的非线性状态约束,利用最小协方差估计推导了鲁棒CHF递推方程.通过拉格朗日乘子法对非线性约束优化估计问题进行求解,并利用约束信息对CHF算法的状态更新过程进行了改进.最后,通过对CHF算法和无约束的H∞滤波算法的跟踪性能进行了对比分析和验证.仿真结果表明,该算法可以实现机器人的跟踪,且跟踪精度优于HF算法.     

Small Compact Perturbation of Operators in B∞（Ω）

Abstract： We consider an approximation problem related to strongly irreducible operators, that is, does the direct sum of a strongly irreducible operator in B∞（Ω） and certain operator have a small compact perturbation which is a strongly irreducible operator in B∞（Ω）？ In this paper, we prove that the direct sum of any strongly irreducible operator in B∞（Ω） and certain biquasitriangular operator have small compact perturbations which are strongly irreducible operators in B∞（Ω）.     

一类非线性时滞系统与时滞相关的H_∞控制

考虑一类非线性时滞系统的H∞控制.并对非线性项给出了一个新假设,在其假设下利用线性矩阵不等式方法得到了与时滞相关的H∞控制,同时也得到了该类非线性时滞系统鲁棒镇定的充分条件.     

一类切换线性系统的动态输出反馈H_∞控制:LMIs方法

研究一类由任意有限多个线性子系统组成的切换系统的动态输出反馈H∞控制问题.利用共同Lyapunov函数方法和凸组合技术,给出由矩阵不等式表示的控制器存在的充分条件,并设计了相应的子控制器和切换规则.采用消元法,将该矩阵不等式转化为一组线性矩阵不等式(LMIs).最后给出一个数值仿真实例证明结论的有效性.     

一类推广后的Feigenbaum函数方程的光滑解

考虑一类推广后的Feigenbaum函数方程｛g（0）=1,-1≤g（x）≤1,x∈[-1,1],h（g（x））=g（g（h（x）））其中h（x）是[-1,1]上的递减光滑奇函数且满足h（0）=0,-1〈h’（x）〈0,z∈[-1,1]．利用构造性方法讨论上述方程的光滑解的存在性及唯一性．     

广义连续系统极小极大控制反问题初探

将极小极大控制的反问题推广到广义系统.针对给定的性能指标,通过受限等价变换,得到判别广义连续系统控制器是极小极大控制器的充要条件及其等价的频率条件.最后针对广义系统H∞次优控制的反问题进行了讨论.     

MODAL SYNTHESIS METHOD FOR NORM COMPUTATION OF H∞ DECENTRALIZED CONTROL SYSTEMS (Ⅱ)

When using H ∞ techniques to design decentralized controllers for large systems,the whole system is divided into subsystems, which are analysed using H∞ control theory before being recombined. An analogy was established with substructural analysis in structural mechanics, in which H ∞ decentralized control theory corresponds to substructural modal synthesis theory so that the optimal H ∞ norm of the whole system corresponds to the fundamental vibration frequency of the whole structure. Hence, modal synthesis methodology and the extended Wittrick-Williams algorithm were transplanted from structural mechanics to compute the optimal H∞ norm of the control system. The orthogonality and the expansion theorem of eigenfunctions of the subsystems H∞ control are presented in part (Ⅰ)of the paper. The modal synthesis method for computation of the optimal H ∞ norm of decentralized control systems and numerical examples are presented in part (Ⅱ).     

A controlled boundary theorem for Hilbert cube manifolds

In this paper a boundary theorem for Hilbert cube manifolds is established,where it is required that the boundary be put on the manifold with arbitrarily small control in a given compact metric parameter space.     

Feigenbaum函数方程的C~∞偶解

本文对Feigenbaum函数方程的一般偶连续解作了一些构造性的研究,进而对任意的 0<λ<1给出了C~∞偶解.     

On the Structure of ∞-Harmonic Maps

Let H ∈ C ²(? ^N×n ), H ≥ 0. The PDE system arises as the Euler-Lagrange PDE of vectorial variational problems for the functional E _∞(u, Ω) = ‖H(Du)‖ _{L ^∞(Ω)} defined on maps u: Ω ? ? ⁿ  → ? ^N . (1) first appeared in the author's recent work. The scalar case though has a long history initiated by Aronsson. Herein we study the solutions of (1) with emphasis on the case of n = 2 ≤ N with H the Euclidean norm on ? ^N×n , which we call the “∞-Laplacian”. By establishing a rigidity theorem for rank-one maps of independent interest, we analyse a phenomenon of separation of the solutions to phases with qualitatively different behaviour. As a corollary, we extend to N ≥ 2 the Aronsson-Evans-Yu theorem regarding non existence of zeros of |Du| and prove a maximum principle. We further characterise all H for which (1) is elliptic and also study the initial value problem for the ODE system arising for n = 1 but with H(·, u, u′) depending on all the arguments.