给出牛顿迭代方法的两个新格式,S im pson牛顿方法和几何平均牛顿方法,证明了它们至少三次收敛到单根,线性收敛到重根.文末给出数值试验,且与其它已知牛顿法做了比较.结果表明收敛性方法具有较好的优越性,它们丰富了非线性方程求根的方...给出牛顿迭代方法的两个新格式,S im pson牛顿方法和几何平均牛顿方法,证明了它们至少三次收敛到单根,线性收敛到重根.文末给出数值试验,且与其它已知牛顿法做了比较.结果表明收敛性方法具有较好的优越性,它们丰富了非线性方程求根的方法,在理论上和应用上都有一定的价值.展开更多
This paper discusses the order-preserving convergence for spectral approximation of the self-adjoint completely continuous operator T.Under the condition that the approximate operator Th converges to T in norm,it is p...This paper discusses the order-preserving convergence for spectral approximation of the self-adjoint completely continuous operator T.Under the condition that the approximate operator Th converges to T in norm,it is proven that the k-th eigenvalue of Th converges to the k-th eigenvalue of T.(We sorted the positive eigenvalues in decreasing order and negative eigenvalues in increasing order.) Then we apply this result to conforming elements,nonconforming elements and mixed elements of self-adjoint elliptic differential operators eigenvalue problems,and prove that the k-th approximate eigenvalue obtained by these methods converges to the k-th exact eigenvalue.展开更多
Consensus problems of first-order multi-agent systems with multiple time delays are investigated in this paper. We discuss three cases： 1） continuous, 2） discrete, and 3） a continuous system with a proportional pl...Consensus problems of first-order multi-agent systems with multiple time delays are investigated in this paper. We discuss three cases： 1） continuous, 2） discrete, and 3） a continuous system with a proportional plus derivative controller. In each case, the system contains simultaneous communication and input time delays. Supposing a dynamic multi-agent system with directed topology that contains a globally reachable node, the sufficient convergence condition of the system is discussed with respect to each of the three cases based on the generalized Nyquist criterion and the frequency-domain analysis approach, yielding conclusions that are either less conservative than or agree with previously published results. We know that the convergence condition of the system depends mainly on each agent’s input time delay and the adjacent weights but is independent of the communication delay between agents, whether the system is continuous or discrete. Finally, simulation examples are given to verify the theoretical analysis.展开更多
In this paper, we investigate the complex oscillation of the differential equation f<sup>k</sup>+A<sub>k-1</sub>f<sup>k-1</sup>+…+A<sub>O</sub>f=F where A<sub>k-1...In this paper, we investigate the complex oscillation of the differential equation f<sup>k</sup>+A<sub>k-1</sub>f<sup>k-1</sup>+…+A<sub>O</sub>f=F where A<sub>k-1</sub>.…, A<sub>o</sub> F 0 are finite order transcendental entire functions, such that there exists an A<sub>d</sub>（0≤d≤k-1） being dominant in the sense that either it has larger order than any other A<sub>j</sub>（j=0.…. d-l. d+l.…. k-1）, or it is the only transcendental function. We obtain some precise estimates of the exponent of convergence of the zero-sequence of solutions to the above equation.展开更多
The augmented Lagrangian function and the corresponding augmented Lagrangian method are constructed for solving a class of minimax optimization problems with equality constraints.We prove that,under the linear indepen...The augmented Lagrangian function and the corresponding augmented Lagrangian method are constructed for solving a class of minimax optimization problems with equality constraints.We prove that,under the linear independence constraint qualification and the second-order sufficiency optimality condition for the lower level problem and the second-order sufficiency optimality condition for the minimax problem,for a given multiplier vectorμ,the rate of convergence of the augmented Lagrangian method is linear with respect to||μu-μ^(*)||and the ratio constant is proportional to 1/c when the ratio|μ-μ^(*)||/c is small enough,where c is the penalty parameter that exceeds a threshold c_(*)>O andμ^(*)is the multiplier corresponding to a local minimizer.Moreover,we prove that the sequence of multiplier vectors generated by the augmented Lagrangian method has at least Q-linear convergence if the sequence of penalty parameters(ck)is bounded and the convergence rate is superlinear if(ck)is increasing to infinity.Finally,we use a direct way to establish the rate of convergence of the augmented Lagrangian method for the minimax problem with a quadratic objective function and linear equality constraints.展开更多
In this paper,Let M_(n)denote the maximum of logarithmic general error distribution with parameter v≥1.Higher-order expansions for distributions of powered extremes M_(n)^(p)are derived under an optimal choice of nor...In this paper,Let M_(n)denote the maximum of logarithmic general error distribution with parameter v≥1.Higher-order expansions for distributions of powered extremes M_(n)^(p)are derived under an optimal choice of normalizing constants.It is shown that M_(n)^(p),when v=1,converges to the Frechet extreme value distribution at the rate of 1/n,and if v>1 then M_(n)^(p)converges to the Gumbel extreme value distribution at the rate of(loglogn)^(2)=(log n)^(1-1/v).展开更多
Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction system.However,the joint position tracking perfor...Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction system.However,the joint position tracking performance can be limited by the structures of these controllers when the system is faced with uncertainties and rough high-order system state measurements(such as joint accelerations and jerks).This study presents a variable structure passivity(VSP)control method for joint position tracking of elastic joint robots,which combines the advantages of passive control and variable structure control.This method ensures the tracking error converges in a finite time,even when the system faces uncertainties.The method also preserves the passivity of the system.Moreover,a cascaded observer,called CHOSSO,is also proposed to accurately estimate high-order system states,relying only on position and velocity signals.This observer allows independent implementation of disturbance compensation in the acceleration and jerk estimation channels.In particular,the observer has an enhanced ability to handle fast time-varying disturbances in physical human-robot interaction.The effectiveness of the proposed method is verified through simulations and experiments on a lower limb rehabilitation robot equipped with elastic joints.展开更多
基金supported by the National Natural Science Foundation of China (Grant No. 10761003)Guizhou Province Scientific Research for Senior Personnels
文摘This paper discusses the order-preserving convergence for spectral approximation of the self-adjoint completely continuous operator T.Under the condition that the approximate operator Th converges to T in norm,it is proven that the k-th eigenvalue of Th converges to the k-th eigenvalue of T.(We sorted the positive eigenvalues in decreasing order and negative eigenvalues in increasing order.) Then we apply this result to conforming elements,nonconforming elements and mixed elements of self-adjoint elliptic differential operators eigenvalue problems,and prove that the k-th approximate eigenvalue obtained by these methods converges to the k-th exact eigenvalue.
基金Project supported in part by the National Natural Science Foundation of China (Grant Nos. 60973114 and 61170249)in part by the Natural Science Foundation of CQCSTC (Grant Nos. 2009BA2024 and cstc2011jjA1320)in part by the State Key Laboratory of Power Transmission Equipment & System Securityand New Technology, Chongqing University (Grant No. 2007DA10512711206)
文摘Consensus problems of first-order multi-agent systems with multiple time delays are investigated in this paper. We discuss three cases： 1） continuous, 2） discrete, and 3） a continuous system with a proportional plus derivative controller. In each case, the system contains simultaneous communication and input time delays. Supposing a dynamic multi-agent system with directed topology that contains a globally reachable node, the sufficient convergence condition of the system is discussed with respect to each of the three cases based on the generalized Nyquist criterion and the frequency-domain analysis approach, yielding conclusions that are either less conservative than or agree with previously published results. We know that the convergence condition of the system depends mainly on each agent’s input time delay and the adjacent weights but is independent of the communication delay between agents, whether the system is continuous or discrete. Finally, simulation examples are given to verify the theoretical analysis.
基金Project supported by the National Natural Science Foundation of China
文摘In this paper, we investigate the complex oscillation of the differential equation f<sup>k</sup>+A<sub>k-1</sub>f<sup>k-1</sup>+…+A<sub>O</sub>f=F where A<sub>k-1</sub>.…, A<sub>o</sub> F 0 are finite order transcendental entire functions, such that there exists an A<sub>d</sub>（0≤d≤k-1） being dominant in the sense that either it has larger order than any other A<sub>j</sub>（j=0.…. d-l. d+l.…. k-1）, or it is the only transcendental function. We obtain some precise estimates of the exponent of convergence of the zero-sequence of solutions to the above equation.
基金the National Natural Science Foundation of China(Nos.11991020,11631013,11971372,11991021,11971089 and 11731013)the Strategic Priority Research Program of Chinese Academy of Sciences(No.XDA27000000)Dalian High-Level Talent Innovation Project(No.2020RD09)。
文摘The augmented Lagrangian function and the corresponding augmented Lagrangian method are constructed for solving a class of minimax optimization problems with equality constraints.We prove that,under the linear independence constraint qualification and the second-order sufficiency optimality condition for the lower level problem and the second-order sufficiency optimality condition for the minimax problem,for a given multiplier vectorμ,the rate of convergence of the augmented Lagrangian method is linear with respect to||μu-μ^(*)||and the ratio constant is proportional to 1/c when the ratio|μ-μ^(*)||/c is small enough,where c is the penalty parameter that exceeds a threshold c_(*)>O andμ^(*)is the multiplier corresponding to a local minimizer.Moreover,we prove that the sequence of multiplier vectors generated by the augmented Lagrangian method has at least Q-linear convergence if the sequence of penalty parameters(ck)is bounded and the convergence rate is superlinear if(ck)is increasing to infinity.Finally,we use a direct way to establish the rate of convergence of the augmented Lagrangian method for the minimax problem with a quadratic objective function and linear equality constraints.
文摘In this paper,Let M_(n)denote the maximum of logarithmic general error distribution with parameter v≥1.Higher-order expansions for distributions of powered extremes M_(n)^(p)are derived under an optimal choice of normalizing constants.It is shown that M_(n)^(p),when v=1,converges to the Frechet extreme value distribution at the rate of 1/n,and if v>1 then M_(n)^(p)converges to the Gumbel extreme value distribution at the rate of(loglogn)^(2)=(log n)^(1-1/v).
基金supported by the National Natural Science Foundation of China(Grant Nos.91648112,52375506)。
文摘Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction system.However,the joint position tracking performance can be limited by the structures of these controllers when the system is faced with uncertainties and rough high-order system state measurements(such as joint accelerations and jerks).This study presents a variable structure passivity(VSP)control method for joint position tracking of elastic joint robots,which combines the advantages of passive control and variable structure control.This method ensures the tracking error converges in a finite time,even when the system faces uncertainties.The method also preserves the passivity of the system.Moreover,a cascaded observer,called CHOSSO,is also proposed to accurately estimate high-order system states,relying only on position and velocity signals.This observer allows independent implementation of disturbance compensation in the acceleration and jerk estimation channels.In particular,the observer has an enhanced ability to handle fast time-varying disturbances in physical human-robot interaction.The effectiveness of the proposed method is verified through simulations and experiments on a lower limb rehabilitation robot equipped with elastic joints.
