Asymptotic stabilization of some equilibria of an underactuated underwater vehicle

The stabilization problem for selected relative equilibria of an underactuated rigid body, modelling a simple underwater vehicle, moving in an ideal fluid is addressed. State feedback control laws achieving local asymptotic stability of a forward motion and of a diving/rising with forward/reverse motion are proposed. The control design exploits the Hamiltonian nature of the system to be controlled and it is based on the so-called interconnection and damping assignment (IDA) procedure. Simulation results complete the work.     

利用Liapanov直接方法判定差分方程稳定性

研究差分方程稳定性的强有力的方法是Liapanov直接方法,这一方法的核心思想是针对所研究的方程,构造出其相应的Liapanov函数,利用它来判定方程的稳定性．     

Stability and control of nonlinear systems described by retarded functional equations: a review of recent results

This paper reports on recent results in a series of the work of the authors on the stability and nonlinear control for general dynamical systems described by retarded functional differential and difference equations. Both internal and external stability properties are studied. The corresponding Lyapunov and Razuminkhin characterizations for input-to-state and input-to-output stabilities are proposed. Necessary and sufficient Lyapunov-like conditions are derived for robust nonlinear stabilization. In particular, an explicit controller design procedure is developed for a new class of nonlinear time-delay systems. Lastly, sufficient assumptions, including a small-gain condition, are presented for guaranteeing the input-to-output stability of coupled systems comprised of retarded functional differential and difference equations.     

Reachability determination in acyclic Petri nets by cell enumeration approach

Reachability is one of the most important behavioral properties of Petri nets. We propose in this paper a novel approach for solving the fundamental equation in the reachability analysis of acyclic Petri nets, which has been known to be NP-complete. More specifically, by adopting a revised version of the cell enumeration method for an arrangement of hyperplanes in discrete geometry, we develop an efficient solution scheme to identify firing count vector solution(s) to the fundamental equation on a bounded integer set, with a complexity bound of O((nu)^n−m), where n is the number of transitions, m is the number of places and u is the upper bound of the number of firings for all individual transitions.     

Minimizing a linear objective function under a fuzzy max-t norm relation equation constraint

The work examines the feasibility of minimizing a linear objective function subject to a max-t fuzzy relation equation constraint, where t is a continuous/Archimedean t-norm. Conventional methods for solving this problem are significantly improved by, first separating the problem into two sub-problems according to the availability of positive coefficients. This decomposition is thus more easily handled than in previous literature. Next, based on use of the maximum solution of the constraint equation, the sub-problem with non-positive coefficients is solved and the size of the sub-problem with positive coefficients reduced as well. This step is unique among conventional methods, owing to its ability to determine as many optimal variables as possible. Additionally, several rules are developed for simplifying the remaining problem. Finally, those undecided optimal variables are obtained using the covering problem rather than the branch-and-bound methods. Three illustrative examples demonstrate that the proposed approach outperforms conventional schemes. Its potential applications are discussed as well.     

Sparse shape functions for tetrahedral <Emphasis Type="Italic">p</Emphasis>-FEM using integrated Jacobi polynomials

Summary In this paper, we investigate the discretization of an elliptic boundary value problem in 3D by means of the hp-version of the finite element method using a mesh of tetrahedrons. We present several bases based on integrated Jacobi polynomials in which the element stiffness matrix has nonzero entries, where p denotes the polynomial degree. The proof of the sparsity requires the assistance of computer algebra software. Several numerical experiments show the efficiency of the proposed bases for higher polynomial degrees p.      

Error Estimates for Semidiscrete Finite Element Approximations of the Stokes Equations Under Minimal Regularity Assumptions

Semidiscrete (spatially discrete) finite element approximations of the Stokes equations are studied in this paper. Properties of L ², H ¹ and H ^–1 projections onto discretely divergence-free spaces are discussed and error estimates are derived under minimal regularity assumptions on the solution.     

Incompressible Navier–Stokes solutions by a triangular spectral/p element projection method

The application of the fractional step projection method recently proposed by Guermond and Quartapelle to the numerical approximation of unsteady Navier–Stokes solutions by means of a spectral/p element method is considered. In particular we illustrate the second-order pressure correction technique and evaluate its accuracy properties in some test cases. Stability with respect to the compatibility condition between the approximation spaces for velocity and pressure is also addressed. The high (spectral) accuracy in space and the second-order accuracy in time are verified by two simple test cases with analytical solution. A more interesting problem is solved showing the ability of the method to produce very accurate results also for problems in complex geometries.     

Nodal DG-FEM solution of high-order Boussinesq-type equations

A discontinuous Galerkin finite-element method (DG-FEM) solution to a set of high-order Boussinesq-type equations for modelling highly nonlinear and dispersive water waves in one horizontal dimension is presented. The continuous equations are discretized using nodal polynomial basis functions of arbitrary order in space on each element of an unstructured computational domain. A fourth-order explicit Runge-Kutta scheme is used to advance the solution in time. Methods for introducing artificial damping to control mild nonlinear instabilities are also discussed. The accuracy and convergence of the model with both h (grid size) and p (order) refinement are confirmed for the linearized equations, and calculations are provided for two nonlinear test cases in one horizontal dimension: harmonic generation over a submerged bar, and reflection of a steep solitary wave from a vertical wall. Test cases for two horizontal dimensions will be considered in future work.     

一次同余方程组的一种矩阵解法

同余方程组是数论中一个极为有用的课题。文中考虑的是具有一个未知数而具有不同的模的一次同余方程组。一般可以用中国剩余定理或者递推算法等方法给出一次同余方程组的解法。利用矩阵的初等变换和矩阵的Sm ith标准形给出了求解一次同余方程组的一种矩阵解法。