基于时变终端滑模的任意迭代初态抑制控制EI北大核心CSCD

为解决迭代学习过程中的任意迭代初值和迭代收敛理论证明难的问题,本文构造了一种轨迹跟踪误差初值恒位于滑模面内的时变终端滑模面,将轨迹跟踪误差初值不为零的轨迹跟踪控制问题转换为滑模面初值恒为零的滑模面跟踪控制问题,建立了任意迭代初值与相同迭代初值的迭代学习控制理论连接桥梁.本文提出一种基于时变滑模面的比例–积分–微分(PID)型闭环迭代学习控制策略,基于压缩映射原理证明了迭代学习的收敛性,给出了迭代收敛条件.时变终端滑模面经有限次迭代学习收敛到零,达到轨迹跟踪误差最终稳定在时变滑模面内的目的;Lyapunov稳定理论证明了位于滑模面内的轨迹跟踪误差在有限时间内收敛到原点,达到轨迹局部精确跟踪目的.随机初态下的工业机器人轨迹跟踪控制数值仿真验证了本文方法的有效性和系统对外部强干扰的鲁棒性.     

Solution of initial value problems by the differential quadrature method with Hermite bases

The differential quadrature method (DQM) is used to solve the first-order initial value problem. The initial condition is given at the beginning of the interval. The derivative of a space-independent variable at a sampling grid point within the interval can be defined as a weighted linear sum of the given initial conditions and the function values at the sampling grid points within the defined interval. Hermite polynomials have advantages compared with Lagrange and Chebyshev polynomials, and so, unlike other work, they are chosen as weight functions in the DQM. The proposed method is applied to a numerical example and it is shown that the accuracy of the quadrature solution obtained using the proposed sampling grid points is better than solutions obtained with the commonly used Chebyshev–Gauss–Lobatto sampling grid points.     

A new method for computing a solution of the Cauchy problem with polynomial data for the system of crystal optics

A new analytical method for solving an initial value problem (IVP) for the system of crystal optics with polynomial data and a polynomial inhomogeneous term is suggested. The found solution of the IVP is a polynomial. Theoretical and computational analysis of polynomial solutions and their comparison with non-polynomial solutions corresponding to smooth data are given. The applicability of polynomial solutions to physical processes is discussed. An implementation of this method has been made by symbolic computations in Maple 10.     

PDE surface generation with combined closed and non-closed form solutions

Partial differential equations (PDEs) combined with suitably chosen boundary conditions are effective in creating free form surfaces. In this paper, a fourth order partial differential equation and boundary conditions up to tangential continuity are introduced. The general solution is divided into a closed form solution and a non-closed form one leading to a mixed solution to the PDE. The obtained solution is applied to a number of surface modelling examples including glass shape design, vase surface creation and arbitrary surface representation.     

Construction of Shapes Arising from the Minkowski Problem Using a Level Set Approach

The Minkowski problem asks a fundamental question in differential geometry whose answer is not only important in that field but has real world applications as well. We endeavor to construct the shapes that arise from the Minkowski problem by forming a PDE that flows an initial implicitly defined hypersurface to an approximation of the shape under the level set framework. Tools and ideas found in the various applications of level set methods are gathered to generate this PDE. Numerically, its solution is determined by incorporating high order finite difference schemes over the uniform grid available in the framework. Finally, we use our approach in various test cases to generate various shapes arising from different given data in the Minkowski problem.     

Gas flow problem: solving non-linear BVP with given lower-upper solutions interactively

Modelling the unsteady isothermal flow of a gas through a semi-infinite porous medium results in a sensitive non-linear two-point boundary value problem (BVP) over an infinite interval for which the lower and upper solutions have been established analytically. We present an interactive solution procedure based on the lower and upper solutions (LUSOL) for this BVP whose conversion to an initial value problem (IVP) without making use of the LUSOL is usually not numerically possible. In other words, the gas flow problem considered here is an excellent example of a case where knowledge of easily computable LUSOL is extremely important if one does not want to land in a situation in which all non-LUSOL-based methods fail.     

The Definition and Numerical Method of Final Value Problem and Arbitrary Value Problem

Many Engineering Problems could be mathematically described by FinalValue Problem, which is the inverse problem of InitialValue Problem. Accordingly, the paper studies the final value problem in the field of ODE problems and analyses the differences and relations between initial and final value problems. The more general new concept of the endpoints-value problem which could describe both initial and final problems is proposed. Further, we extend the concept into inner-interval value problem and arbitrary value problem and point out that both endpoints-value problem and inner-interval value problem are special forms of arbitrary value problem. Particularly, the existence and uniqueness of the solutions of final value problem and inner-interval value problem of first order ordinary differential equation are proved for discrete problems. The numerical calculation formulas of the problems are derived, and for each algorithm, we propose the convergence and stability conditions of them. Furthermore, multivariate and high-order final value problems are further studied, and the condition of fixed delay is also discussed in this paper. At last, the effectiveness of the considered methods is validated by numerical experiment.     

Solidification and control of a liquid metal column

In this paper, two different 1D mechanistic models for the solidification of a pure substance are presented. The first model is based on the two-domain approach, resulting in 2 partial differential equations (PDEs) and one ordinary differential equation (ODE) with 2 boundary conditions, 2 interface conditions, and one initial condition: the Stefan problem.In the second model, the metal column is considered as one-domain, and one PDE is valid for the whole domain. The result is one PDE with two boundary conditions.The models are implemented in MATLAB, and the ODE solver ode23s is used for solving the systems of equations. The models are developed in order to simulate and control the dynamic response of the solidification rate. The control scheme is based on a linear PI controller.     

A series solution algorithm for initial boundary-value problems with variable properties

A multiple infinite trigonometric cum polynomial series method for solving initial-boundary value problems governed by hyperbolic differential equations with variable coefficients is developed. The method proposed herein can be easily applied to a broad class of engineering systems including those cases where boundary conditions may vary with time. In the proposed mathematical technique, the solution form is assumed as a combination of infinite Fourier series and polynomial series of nth order, where n is the order of the differential equation. The coefficients of the polynomial series are obtained as functions of undetermined Fourier series coefficients by satisfying the initial-boundary conditions. The variable coefficients are expanded in appropriate half-range sine or cosine series. Insertion of the above Fourier-polynomial series solutions into the differential equation and application of orthogonality conditions leads to a linear summation equation which can be solved in open form. However, the authors have developed a closed-form series solution consisting of a highly efficient algorithm. The major advantage of this technique is the development of a solution algorithm, coupled with the multiple infinite trigonometric cum polynomial series solutions, leading to fast converging series solutions. A representative initial and boundary value problem governed by hyperbolic partial differential equations of variable coefficients is presented herein to demonstrate the efficiency and accuracy of the method.     

Method of weighted residuals as applied to higher order,nonlinear, two-point boundary value problems

A new numerical method for solving a class of higher order nonlinear two-point boundary value problems is presented. The present paper is an extension of an earlier work where only second order problems were addressed. This iterative technique first linearizes the problem by an initial guess for the nonlinear terms. The linearized boundary value problem is transformed into an initial value problem by using a weighted residuals technique. The resulting initial value problem is then solved by utilizing a fourth order Runge-Kutta scheme. The new solution generated is used as an improved estimate and the process iterated until a desired level of convergence is attained. Numerical solutions for third and fourth order problems are included.     

Impulsive boundary value problem for nonlinear differential equations of fractional order

In this paper, we prove the existence and uniqueness of solutions for the boundary value problem of nonlinear impulsive differential equations of fractional order q∈(1,2]. Our results are based on Altman’s fixed point theorem and Leray-Schauder’s fixed point theorem.     

An Interval Hermite-Obreschkoff Method for Computing Rigorous Bounds on the Solution of an Initial Value Problem for an Ordinary Differential Equation

To date, the only effective approach for computing guaranteed bounds on the solution of an initial value problem (IVP) for an ordinary differential equation (ODE) has been interval methods based on Taylor series. This paper derives a new approach, an interval Hermite-Obreschkoff (IHO) method, for computing such enclosures. Compared to interval Taylor series (ITS) methods, for the same stepsize and order, our IHO scheme has a smaller truncation error, better stability, and requires fewer Taylor coefficients and high-order Jacobians.The stability properties of the ITS and IHO methods are investigated. We show as an important by-product of this analysis that the stability of an interval method is determined not only by the stability function of the underlying formula, as in a standard method for an IVP for an ODE, but also by the associated formula for the truncation error.     

Discrete cubic spline method for second-order boundary value problems

In this paper, we use discrete cubic spline based on central differences to obtain approximate solution of a second-order boundary value problem. It is shown that the method is of order 4 if a parameter takes a specific value, else it is of order 2. Two numerical examples are included to illustrate our method as well as to compare the performance with other numerical methods proposed in the literature.     

An approximate solution to an initial boundary value problem: Rakib–Sivashinsky equation

The construction of an approximate solution to an initial boundary value problem for the Rakib–Sivashinsky equation is of concern. The Fourier method is combined with the Adomian decomposition method in order to provide the approximate solution. The variables are separated by the Fourier method and the approximate solution to the nonlinear system of ordinary differential equations is obtained by the Adomian decomposition method. One example of application is presented.     

Boundary Value Technique for Finding Numerical Solution to Boundary Value Problems for Third Order Singularly Perturbed Ordinary Differential Equations

A class of singularly perturbed two point boundary value problems (BVPs) for third order ordinary differential equations is considered. The BVP is reduced to a weakly coupled system of one first order Ordinary Differential Equation (ODE) with a suitable initial condition and one second order singularly perturbed ODE subject to boundary conditions. In order to solve this system, a computational method is suggested in this paper. This method combines an exponentially fitted finite difference scheme and a classical finite difference scheme. The proposed method is distinguished by the fact that, first we divide the domain of definition of the differential equation into three subintervals called inner and outer regions. Then we solve the boundary value problem over these regions as two point boundary value problems. The terminal boundary conditions of the inner regions are obtained using zero order asymptotic expansion approximation of the solution of the problem. The present method can be extended to system of two equations, of which, one is a first order ODE and the other is a singularly perturbed second order ODE. Examples are presented to illustrate the method.     

Numerical solution of two-point boundary value problems

A new algorithm is presented for the numerical solution of linear and non-linear two-point boundary value problems with explicit type of boundary conditions. It is a systematic iterative method which reduces the problem to a corresponding initial value problem. The method has been tested to work for a set of 36 simultaneous differential equations 4 of which were non-linear.

Extension of this method for the more complicated case of implicit boundary conditions will be discussed in a separate paper.     

The Motion Analysis of Nonrigid Membranes

In this paper we discuss the problem of determining the shape and motion of a nonrigid 2-dimensional membrane, and specific information about the physics of the membrane, from a sequence of monocular perspective images of the membrane in motion, initial and terminal depth information, and generic information about the physics of the membrane. We model a nonrigid 2-dimensional membrane by a surface without thickness, and the motion of a membrane by a second-order partial differential equation (PDE). We fit a family of surfaces to the image data and use initial and terminal depth information—together with the PDE—to determine both the position of the membrane at intermediate times and the constants that characterize membrane physics. The techniques presented have been applied to real membranes, and implementation results are presented.     

High-order scheme for determination of a control parameter in an inverse problem from the over-specified data

The problem of finding the solution of partial differential equations with source control parameter has appeared increasingly in physical phenomena, for example, in the study of heat conduction process, thermo-elasticity, chemical diffusion and control theory. In this paper we present a high order scheme for determining unknown control parameter and unknown solution of parabolic inverse problem with both integral overspecialization and overspecialization at a point in the spatial domain. In these equations, we first approximate the spatial derivative with a fourth order compact scheme and reduce the problem to a system of ordinary differential equations (ODEs). Then we apply a fourth order boundary value method for the solution of resulting system of ODEs. So the proposed method has fourth order accuracy in both space and time components and is unconditionally stable due to the favorable stability property of boundary value methods. Several numerical examples and also some comparisons with other methods in the literature will be investigated to confirm the efficiency of the new procedure.     

Initial condition of costate in linear optimal control using convex analysis

The Pontryagin Maximum Principle is one of the most important results in optimal control, and provides necessary conditions for optimality in the form of a mixed initial/terminal boundary condition on a pair of differential equations for the system state and its conjugate costate. Unfortunately, this mixed boundary value problem is usually difficult to solve, since the Pontryagin Maximum Principle does not give any information on the initial value of the costate. In this paper, we explore an optimal control problem with linear and convex structure and derive the associated dual optimization problem using convex duality, which is often much easier to solve than the original optimal control problem. We present that the solution to the dual optimization problem supplements the necessary conditions of the Pontryagin Maximum Principle, and elaborate the procedure of constructing the optimal control and its corresponding state trajectory in terms of the solution to the dual problem.     

On adaptive control of nonlinearly parameterized nonlinear systems: Towards a constructive procedure

A new framework to design immersion and invariance adaptive controllers for nonlinearly parameterized, nonlinear systems was recently proposed by the authors. The key step is the construction of a monotone mapping, via a suitable selection of a controller tuning function, which has to satisfy some integrability conditions—this translates into the need to solve a partial differential equation (PDE). In this paper this result is extended providing some answers to the questions of characterization of “monotonizable” systems and solvability of the PDE. First, adding to the design a nonlinear dynamic scaling, we obviate the need to solve the PDE. Second, for the case of factorizable nonlinearities, the following results are established. (i) It is shown that the monotonicity condition is satisfied if a linear matrix inequality is feasible. (ii) Directly verifiable involutivity conditions that ensure the solution of the PDE are presented. (iii) An explicit formula for the required tuning function is given, provided the regressor matrix satisfies some rank conditions. Hence, adding a dynamic scaling, this yields a constructive solution to the problem.