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.     

复杂势场量子弹球中疤痕态的量子化条件

量子疤痕是波函数在经典不稳定周期轨道周围反常凝聚的一种量子或波动现象.人们对疤痕态的量子化条件进行了大量研究,对深入理解半经典量子化起到了一定的促进作用.之前大部分研究工作主要集中在硬墙量子弹球上,即给定边界形状的无穷深量子势阱系统.本文研究具有光滑复杂势场的二维量子弹球系统,考察疤痕态的量子化条件及其重复出现的规律,得到了与硬墙弹球不一样的结果,对理解这类现象是一个有益的补充.这些结果将有助于理解具有无规长程杂质分布的二维电子系统的态密度谱和输运行为.     

Distributed subgradient method for multi‐agent optimization with quantized communication

This paper focuses on a distributed optimization problem associated with a time‐varying multi‐agent network with quantized communication, where each agent has local access to its convex objective function, and cooperatively minimizes a sum of convex objective functions of the agents over the network. Based on subgradient methods, we propose a distributed algorithm to solve this problem under the additional constraint that agents can only communicate quantized information through the network. We consider two kinds of quantizers and analyze the quantization effects on the convergence of the algorithm. Furthermore, we provide explicit error bounds on the convergence rates that highlight the dependence on the quantization levels. Finally, some simulation results on a l₁‐regression problem are presented to demonstrate the performance of the algorithm. Copyright © 2016 John Wiley & Sons, Ltd.     

Edge agreement of second-order multi-agent system with dynamic quantization via the directed edge Laplacian

This work explores the edge agreement problem of second-order multi-agent systems with dynamic quantization under directed communication. To begin with, by virtue of the directed edge Laplacian, we propose a model reduction representation of the closed-loop multi-agent system depending on the spanning tree subgraph. Considering the limitations of the finite bandwidth channels, the quantization effects of second-order multi-agent systems under directed graph are considered. The static quantizers generally contain a fixed quantization interval and infinite quantization level, which are, to some extent, inefficient and impractical. To further reduce the bit depth (number of bits available) and to obtain better precision, the dynamic quantized communication strategy referring to zooming in-zooming out scheme is required. Based on the reduced model associated with the essential edge Laplacian, the asymptotic stability of second-order multi-agent systems under dynamic quantized effects with only finite quantization level can be guaranteed. Finally, the simulation of altitude alignment of micro air vehicles is provided to verify the theoretical results.     

力学系统的扩散运动及量子化

研究位形由扩散过程定义的力学系统．利用变分的路径计算给出系统广义坐标表示的动力学方程，该方程连同连续方程描述系统量子波动随时间演化的概率进程．文末的表示定理指出，在满足适当正规条件的扩散过程和Ｓｃｈｒｄｉｎｇｅｒ方程的解（波函数）之间存在一一对应关系     

Chiral Thirring–Wess model with Faddeevian regularization

Replacing vector type of interaction of the Thirring–Wess model by the chiral type a new model is presented which is termed here as chiral Thirring–Wess model. Ambiguity parameters of regularization are so chosen that the model falls into the Faddeevian class. The resulting Faddeevian class of model in general does not possess Lorentz invariance. However we can exploit the arbitrariness admissible in the ambiguity parameters to relate the quantum mechanically generated ambiguity parameters with the classical parameter involved in the masslike term of the gauge field which helps to maintain physical Lorentz invariance instead of the absence of manifestly Lorentz covariance of the model. The phase space structure and the theoretical spectrum of this class of model have been determined through Dirac’s method of quantization of constraint system.     

有限空间中经典场的正则量子化

从离散的角度研究带边界的1+1维经典标量场和Dirac场的正则量子化问题. 与以往不同的是, 这里将时间和空间两个变量同时进行变步长的离散, 应用变步长离散的变分原理, 得到离散形式的运动方程、边界条件和能量守恒的表达式. 然后, 根据Dirac理论, 将边界条件当作初级约束, 将边界条件和内在约束统一处理. 研究表明, 采用此方法, 不仅在每个离散的时空格点上能够建立起Dirac括号, 从而可以完成该模型的正则量子化;而且, 该方法还保持了离散情况下的能量守恒.     

悬链曲面上的点粒子动力学及扩展空间约束系统量子化

扩张型正则量子化方案的核心内容是位置、动量以及哈密顿量同时量子化. 通过分析悬链面上粒子的扩张型正则量子化方案, 并且与薛定谔理论进行比较, 发现内禀几何中二维悬链面给不出与薛定谔理论相一致的结果, 而考虑将二维悬链面嵌入在三维欧氏空间之后, 还需要将正则量子化方案进行扩张, 可以得到体系的几何势能和几何动量, 并与薛定谔理论相一致.     

任意维l态Woods-Saxon势的精确解

在D维空间下使用完全量子化规则计算了具有离心项的Woods-Saxon势,根据动量积分 (其中 )和Pekeris近似化条件,得到了系统的任意l波Schrödinger方程的解和能谱方程．讨论了束缚态能谱的有关性质．