The new notions of H-metric spaces and generalized H-KKM mappings were introduced. Some generalized H-KKM type theorems for generalized H-K-KM mappings with finitely metrically compactly closed values and finitely met...The new notions of H-metric spaces and generalized H-KKM mappings were introduced. Some generalized H-KKM type theorems for generalized H-K-KM mappings with finitely metrically compactly closed values and finitely metrically compactly open values were established in H-metric spaces. These theorems generalize recent results of Khamsi and Yuan. As applications, some Ky Fan type matching theorems for finitely metrically compactly open covers and finitely metrically compactly closed covers, fixed point theorems and minimax inequality are obtained in H-metric spaces. These results generalize a number of known results in recent literature.展开更多
In this paper internal characterizations on certain quotient images of locally separable metric spaces are discussed.We obtain some descriptions of quotient s-images,pseudo-open s- images,quotient compact images and c...In this paper internal characterizations on certain quotient images of locally separable metric spaces are discussed.We obtain some descriptions of quotient s-images,pseudo-open s- images,quotient compact images and closed images of locally separable metric spaces,and establish some relations between these and certain quotient images of metric spaces by the local separability of suitable subspaces.展开更多
A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
文摘The new notions of H-metric spaces and generalized H-KKM mappings were introduced. Some generalized H-KKM type theorems for generalized H-K-KM mappings with finitely metrically compactly closed values and finitely metrically compactly open values were established in H-metric spaces. These theorems generalize recent results of Khamsi and Yuan. As applications, some Ky Fan type matching theorems for finitely metrically compactly open covers and finitely metrically compactly closed covers, fixed point theorems and minimax inequality are obtained in H-metric spaces. These results generalize a number of known results in recent literature.
基金Supported by the National Natural Science Foundation of China
文摘In this paper internal characterizations on certain quotient images of locally separable metric spaces are discussed.We obtain some descriptions of quotient s-images,pseudo-open s- images,quotient compact images and closed images of locally separable metric spaces,and establish some relations between these and certain quotient images of metric spaces by the local separability of suitable subspaces.
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
