Navigation and control of the motion of a back wheel drive tricycle

This work deals with the guidance and control of the motion of a back wheel drive tricycle. Denote by O the center of mass of the tricycle. Given N points P_i, i = 0,…, N − 1 in the horizontal plane, a finite time interval [0, t_f], and a sequence of times τ₀ = 0 < τ₁ < … < τ_{N −1} = t_f. Based on a dynamical model of the tricycle, and by using the concept of path controllability, control laws are derived for the tricycle's pedalling moment and directional moment such that O will pass through p_j at the time τ_j, j = 0,…, N − 1, respectively.     

The motion of a cylinder-rod system on a horizontal plane: Path controllability and closed-loop control

This work deals with the guidance and control of a system which is composed of a rolling cylinder and a controlled slender rod that is pivoted, through its center of mass, about the cylinder's center. Given a finite time interval [0, t_f], and let P₁ and P₂ be two points in the (X, Y)-plane. The problem dealt with here is to find a closed-loop control law for the cylinder-rod system such that:

• 1.(i) the cylinder center will move from P₁ to P₂ during [0, t_f] and will come to rest at P₂, and
• 2.(ii) the rod will rotate from an angle ψ21 to ψ22 during [0, t_f] and will stop to rotate at t = t_f.

By introducing the concept of path controllability, a closed-loop control law for the solution of the above-posed problem is proposed and its efficiency is demonstrated by solving numerically some examples.     

Properties of Cesàro means of double Fourier series

The pointwise behavior of partial sums and Cesàro means of trigonometric series were studied in many papers. This paper deals with the behavior of rectangular Cesàro means at a point (x ₀, y ₀) for functions f(x, y) bounded in the square [?π; π]² and satisfying the condition |f(x ₀ + s, y ₀ + t) ? f(x ₀, y ₀)| ≤ ρ $ \left( {\sqrt {s^2 + t^2 } } \right) $ ^α , for some α ∈ (0, 1) and all s and t.     

Solvability and stability of a semilinear wave equation with nonlinear boundary conditions

We discuss solvability for the semilinear equation of the vibrating string x_tt(t,y)−Δx(t,y)+f(t,y,x(t,y))=0 in a bounded domain, and certain type of nonlinearity on the boundary. To this effect we derive a new dual variational method. Next we discuss stability of solutions with respect to initial conditions.     

Oscillation theorems for second-order nonlinear differential equations with damped term

Several oscillation criteria are given for the second-order damped nonlinear differential equation (a(t)[y′(t)]^σ′i +p(t)[y′(t)]^σ +q(t)f(y(t)) = 0, where σ > 0 is any quotient of odd integers, a ϵ C(R, (0, ∞)), p(t) and q(t) are allowed to change sign on [t_o, ∞), and f ϵ Cl (R, R) such that xf (x) > 0 for x≠0. Our results improve and extend some known oscillation criteria. Examples are inserted to illustrate our results.     

On Osgood theorem in Banach spaces

Let X be a real Banach space, ω : [0, +∞) → ? be an increasing continuous function such that ω(0) = 0 and ω(t + s) ≤ ω(t) + ω(s) for all t, s ∈ [0, +∞). According to the infinite dimensional analog of the Osgood theorem if ∫¹₀ (ω(t))^?1 dt = ∞, then for any (t₀, x₀) ∈ ?×X and any continuous map f : ?×X → X such that ∥f(t, x) – f(t, y)∥ ≤ ω(∥x – y∥) for all t ∈ ?, x, y ∈ X, the Cauchy problem (t) = f(t, x(t)), x(t₀) = x₀ has a unique solution in a neighborhood of t₀. We prove that if X has a complemented subspace with an unconditional Schauder basis and ∫¹₀ (ω(t))^?1 dt < ∞ then there exists a continuous map f : ? × X → X such that ∥f(t, x) – f(t, y)∥ ≤ ω(∥x – y∥) for all (t, x, y) ∈ ? × X × X and the Cauchy problem (t) = f(t, x(t)), x(t₀) = x₀ has no solutions in any interval of the real line.     

A duality relation for entrance and exit laws for Markov processes

Markov processes X_t on (X, F_X) and Y_t on (Y, F_Y) are said to be dual with respect to the function f(x, y) if E_xf(X_t, y) = E_yf(x, Y_t for all x ? X, y ? Y, t ? 0. It is shown that this duality reverses the role of entrance and exit laws for the processes, and that two previously published results of the authors are dual in precisely this sense. The duality relation for the function f(x, y) = 1_{x<y} is established for one-dimensional diffusions, and several new results on entrance and exit laws for diffusions, birth-death processes, and discrete time birth-death chains are obtained.     

A finite difference solution to a two-dimensional parabolic inverse problem

In this paper, we consider the problem of finding u = u(x, y, t) and p = p(t) which satisfy u_t = u_xx + u_yy + p(t)u + ? in R × [0, T], u(x, y, 0) = f(x, y), (x, y) ∈ R = [0, 1] × [0, 1], u is known on the boundary of R and u(x^∗, y^∗, t) = E(t), 0 < t ? T, where E(t) is known and (x^∗, y^∗) is a given point of R. Through a function transformation, the nonlinear two-dimensional diffusion problem is transformed into a linear problem, and a backward Euler scheme is constructed. It is proved by the maximum principle that the scheme is uniquely solvable, unconditionally stable and convergent in L_∞ norm. The convergence orders of u and p are of O(τ + h²). The impact of initial data errors on the numerical solution is also considered. Numerical experiments are presented to illustrate the validity of the theoretical results.     

A method of constructing integrable linear equations and its application to Hill's equation

Starting with a given equation of the form $$\ddot x + [\lambda + \varepsilon f(t)] x = 0$$ , where λ > 0 and ? ? l is a small parameter [heref(t) may be periodic, and so Hill's equation is included], we construct an equation of the form y + [λ + ?f (t) + ?² _g (t)]y = 0, integrable by quadratures, close in a certain sense to the original equation. For x₀ = y₀ and x ₀ ^′ = y ₀ ^′ , an upper bound is obtained for ¦y—x¦ on an interval of length Δt.     

Periodic solutions to one-dimensional wave equation with x-dependent coefficients

In this paper, we study the nonlinear one-dimensional periodic wave equation with x-dependent coefficients u(x)ytt−(ux(x)yx)+g(x,t,y)=f(x,t) on (0,π)×R under the boundary conditions a₁y(0,t)+b₁yx(0,t)=0, a₂y(π,t)+b₂yx(π,t)=0 ( for i=1,2) and the periodic conditions y(x,t+T)=y(x,t), yt(x,t+T)=yt(x,t). Such a model arises from the forced vibrations of a nonhomogeneous string and the propagation of seismic waves in nonisotropic media. A main concept is the notion “weak solution” to be given in Section 2. For T is the rational multiple of π, we prove some important properties of the weak solution operator. Based on these properties, the existence and regularity of weak solutions are obtained.     

A wavelike functional equation of Pexider type

Summary. Let (G, +) and (H, +) be abelian groups such that the equation 2u = v 2u = v is solvable in both G and H. It is shown that if f₁, f₂, f₃, f₄, : G ×G ? H f_1, f_2, f_3, f_4, : G \times G \longrightarrow H satisfy the functional equation f₁(x + t, y + s) + f₂(x - t, y - s) = f₃(x + s, y - t) + f₄(x - s, y + t) for all x, y, s, t ? G x, y, s, t \in G , then f₁, f₂, f₃, and f₄ are given by f₁ = w + h, f₂ = w - h, f₃ = w + k, f₄ = w - k where w : G ×G ? H w : G \times G \longrightarrow H is an arbitrary solution of f (x + t, y + s) + f (x - t, y - s) = f (x + s, y - t) + f (x - s, y + t) for all x, y, s, t ? G x, y, s, t \in G , and h, k : G ×G ? H h, k : G \times G \longrightarrow H are arbitrary solutions of D_y,t³g(x,y) = 0 \Delta_{y,t}^{3}g(x,y) = 0 and D_x,t³g(x,y) = 0 \Delta_{x,t}^{3}g(x,y) = 0 for all x, y, s, t ? G x, y, s, t \in G .     

Automatic Controls for Nonlinear Dynamical Systems with Lipschitzian Trajectories

We would like to investigate on the solution to the automatic control problem given by the differential equation y′(t) = f(t, y(t), w(t)) for a given initial function x in the initial domain D(x, ω, Y) for almost all t in the interval I, with controls given by w(t) = g(t, y(t), T(y)(t)), where T is a nonanticipating and Lipschitzian operator. The result will be generalized for a dynamical system y′(t) = f(t, y(t), T(y), u(t)).     

A note on the time series which is the product of two stationary time series

The time series […,x_-1y_-1,x₀y₀,x₁y₁,…]> which is the product of two stationary time series x_t and y_t is studied. Such sequences arise in the study of nonlinear time series, censored time series, amplitude modulated time series, time series with random parameters, and time series with missing observations. The mean and autocovariance function of the product sequence are derived.     

A new method of proof of Filippov’s theorem based on the viability theorem

Filippov??s theorem implies that, given an absolutely continuous function y: [t ₀; T] ?? ? ^d and a set-valued map F(t, x) measurable in t and l(t)-Lipschitz in x, for any initial condition x ₀, there exists a solution x(·) to the differential inclusion x??(t) ?? F(t, x(t)) starting from x ₀ at the time t ₀ and satisfying the estimation $$\left| {x(t) - y(t)} \right| \leqslant r(t) = \left| {x_0 - y(t_0 )} \right|e^{\int_{t_0 }^t {l(s)ds} } + \int_{t_0 }^t \gamma (s)e^{\int_s^t {l(\tau )d\tau } } ds,$$ where the function ??(·) is the estimation of dist(y??(t), F(t, y(t))) ?? ??(t). Setting P(t) = {x ?? ? ⁿ : |x ?y(t)| ?? r(t)}, we may formulate the conclusion in Filippov??s theorem as x(t) ?? P(t). We calculate the contingent derivative DP(t, x)(1) and verify the tangential condition F(t, x) ?? DP(t, x)(1) ?? ?. It allows to obtain Filippov??s theorem from a viability result for tubes.     

Stable manifolds for semi-linear evolution equations and admissibility of function spaces on a half-line

Consider an evolution family U=(U(t,s))_t?s?0 on a half-line R₊ and a semi-linear integral equation . We prove the existence of stable manifolds of solutions to this equation in the case that (U(t,s))_t?s?0 has an exponential dichotomy and the nonlinear forcing term f(t,x) satisfies the non-uniform Lipschitz conditions: ‖f(t,x₁)−f(t,x₂)‖?φ(t)‖x₁−x₂‖ for φ being a real and positive function which belongs to admissible function spaces which contain wide classes of function spaces like function spaces of Lp type, the Lorentz spaces Lp,q and many other function spaces occurring in interpolation theory.     

A Characterization of the free n-generated MV-algebra

An MV-algebra A=(A,0,¬,⊕) is an abelian monoid (A,0,⊕) equipped with a unary operation ¬ such that ¬¬x=x,x⊕¬0=¬0, and y⊕¬(y⊕¬x)=x⊕¬(x⊕¬y). Chang proved that the equational class of MV-algebras is generated by the real unit interval [0,1] equipped with the operations ¬x=1?x and x⊕y=min(1,x+y). Therefore, the free n-generated MV-algebra Free _n is the algebra of [0,1]-valued functions over the n-cube [0,1] ⁿ generated by the coordinate functions ξ _i ,i=1, . . . ,n, with pointwise operations. Any such function f is a McNaughton function, i.e., f is continuous, piecewise linear, and each piece has integer coefficients. Conversely, McNaughton proved that all McNaughton functions f: [0,1] ⁿ →[0,1] are in Free _n . The elements of Free _n are logical equivalence classes of n-variable formulas in the infinite-valued calculus of ?ukasiewicz. The aim of this paper is to provide an alternative, representation-free, characterization of Free _n .     

A remark on Schrödinger operators

We study the almost everythere convergence to the initial dataf(x)=u(x, 0) of the solutionu(x, t) of the two-dimensional linear Schrödinger equation Δu=i? _t u. The main result is thatu(x, t) →f(x) almost everywhere fort → 0 iff ∈H ^p (R²), wherep may be chosen <1/2. To get this result (improving on Vega’s work, see [6]), we devise a strategy to capture certain cancellations, which we believe has other applications in related problems.     

Fourth order singular p-Laplacian differential equations with integral boundary conditions

In this paper, we investigate the existence of positive solutions for fourth order singular p-Laplacian differential equations with integral boundary conditions and non-monotonic function terms. Firstly, we establish a comparison theorem, then we define a partial ordering in E ₀ and construct lower and upper solutions to give a necessary and sufficient condition for the existence of C ²[0,1] as well as pseudo-C ³[0,1] positive solutions. Our nonlinearity f(t,x,y) may be singular at x=0, y=0, t=0 and t=1. Finally, we give some the dual results for the other cases of fourth order singular integral boundary value problems and an example to demonstrate the corresponding main results.     

Analysis of a semigroup approach in the inverse problem of identifying an unknown parameters

This article presents a semigroup approach to the mathematical analysis of the inverse parameter problems of identifying the unknown parameters p(t) and q in the linear parabolic equation u_t(x, t)  = u_xx + qu_x(x, t) + p(t)u(x, t), with Dirichlet boundary conditions u(0, t) = ψ₀, u(1, t) = ψ₁. The main purpose of this paper is to investigate the distinguishability of the input-output mapping Φ[·]:P→H^1,2[0,T], via semigroup theory. In this paper, it is shown that if the nullspace of the semigroup T(t) consists of only zero function, then the input-output mapping Φ[·] has the distinguishability property. It is also shown that the types of the boundary conditions and the region on which the problem is defined play an important role in the distinguishability property of the mapping. Moreover, under the light of the measured output data u_x(0, t) = f(t) the unknown parameter p(t) at (x, t) = (0, 0) and the unknown coefficient q are determined via the input data. Furthermore, it is shown that measured output data f(t) can be determined analytically by an integral representation. Hence the input-output mapping Φ[·]:P→H^1,2[0,T] is given explicitly interms of the semigroup.     

Duality for a Class of Multiobjective Control Problems

In this paper, a class of multiobjective control problems is considered, where the objective and constraint functions involved are f(t, x(t), ?(t), y(t), z(t)) with x(t) ∈ Rⁿ, y(t) ∈ Rⁿ, and z(t) ∈ R^m, where x(t) and z(t) are the control variables and y(t) is the state variable. Under the assumption of invexity and its generalization, duality theorems are proved through a parametric approach to related properly efficient solutions of the primal and dual problems.