Stability analysis of a simple rheonomic nonholonomic constrained system

It is a difficult problem to study the stability of the rheonomic and nonholonomic mechanical systems. Especially it is difficult to construct the Lyapunov function directly from the differential equation. But the gradient system is exactly suitable to study the stability of a dynamical system with the aid of the Lyapunov function. The stability of the solution for a simple rheonomic nonholonomic constrained system is studied in this paper. Firstly, the differential equations of motion of the system are established. Secondly, a problem in which the generalized forces are exerted on the system such that the solution is stable is proposed. Finally, the stable solutions of the rheonomic nonholonomic system can be constructed by using the gradient systems.

GENERALIZED BIANCHI'S IDENTITIES FOR VARIANT CONSTRAINED SYSTEM

In this paper the generalized Bianchi's identities for the variant constrained system (GBIVOS)w ith non-invariant action integral and constraint conditions was derived, and the strong and weak conservation laws for such system was deduced. The preliminary applications of the GBIVCS to the case for some models of field theories was given. The Dirac constraint of such system was discussed.

Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach.

Sub-Time-Optimal Control of Constrained Nonlinear Systems

To reduce the number of the level sets used in algorithm of constrained nonlinear systems via ellipsoidal techniques, according to the analysis of mathematics, searching algorithm is used for choosing the control input. Simulation shows that the number of level sets used for controlling is almost the same as that used in polytope techniques. Sub time optimal algorithm reduces the number of the level sets used in ellipsoidal techniques.

Method of variation of parameters for solving a constrained Birkhoffian system

For an in-depth study on the integration problem of the constrained mechanical systems the method of integration for the Birkhoffian system with constraints is discussed and the method of variation of parameters for solving the dynamical equations of the constrained Birkhoffian system is provided.First the differential equations of motion for the constrained Birkhoffian system as well as for the corresponding free Birkhoffian system are established.Secondly a system of auxiliary equations is constructed and the general solution of the equations is found.Finally by varying the parameters and utilizing the properties of the generalized canonical transformation of the Birkhoffian system the solution of the problem can be obtained.The proposed method reveals the inherent relationship between the solution of a free Birkhoffian system and that of a constrained Birkhoffian system. The research results are of universal significance which can be further used in a variety of constrained mechanical systems such as non-conservative systems and nonholonomic systems etc.

The Rigid Body Type Poisson Structure for the Constrained NLS System

A constrained system associated with a 3 × 3 matrix spectral problem of the nonlinear Schroedinger（NLS） hierarchy is proposed. It is shown that the constrained system is a Hamiltonian system with the rigid body type Poisson structure on the Poisson manifold R^3N. Further, the reduction of the constrained system extended to the common level set of the complex cones is proved to be the constrained AKNS system on C^2N.

Optimization of circulating cooling water systems based on chance constrained programming

Recent research on deterministic methods for circulating cooling water systems optimization has been well developed. However, the actual operating conditions of the system are mostly variable, so the system obtained under deterministic conditions may not be stable and economical. This paper studies the optimization of circulating cooling water systems under uncertain circumstance. To improve the reliability of the system and reduce the water and energy consumption, the influence of different uncertain parameters is taken into consideration. The chance constrained programming method is used to build a model under uncertain conditions, where the confidence level indicates the degree of constraint violation. Probability distribution functions are used to describe the form of uncertain parameters. The objective is to minimize the total cost and obtain the optimal cooling network configuration simultaneously.An algorithm based on Monte Carlo method is proposed, and GAMS software is used to solve the mixed integer nonlinear programming model. A case is optimized to verify the validity of the model. Compared with the deterministic optimization method, the results show that when considering the different types of uncertain parameters, a system with better economy and reliability can be obtained(total cost can be reduced at least 2%).

Projected Runge-Kutta methods for constrained Hamiltonian systems

Projected Runge-Kutta （R-K） methods for constrained Hamiltonian systems are proposed. Dynamic equations of the systems, which are index-3 differential-algebraic equations （DAEs） in the Heisenberg form, are established under the framework of Lagrangian multipliers. R-K methods combined with the technique of projections are then used to solve the DAEs. The basic idea of projections is to eliminate the constraint violations at the position, velocity, and acceleration levels, and to preserve the total energy of constrained Hamiltonian systems by correcting variables of the position, velocity, acceleration, and energy. Numerical results confirm the validity and show the high precision of the proposed method in preserving three levels of constraints and total energy compared with results reported in the literature.

Skew-gradient representations of constrained mechanical systems

The characteristics of stationary and non-stationary skew-gradient systems are studied. The skew-gradient representations of holonomic systems, Birkhoffian systems, generalized Birkhoffian systems, and generalized Hamiltonian systems are given. The characteristics of skew-gradient systems are used to study integration and stability of the solution of constrained mechanical systems. Examples are given to illustrate applications of the result.

Integrating factors and conservation theorems of constrained Birkhoffian systems

In this paper the conservation theorems of the constrained Birkhoffian systems are studied by using the method of integrating factors. The differential equations of motion of the system are written. The definition of integrating factors is given for the system. The necessary conditions for the existence of the conserved quantity for the system are studied. The conservation theorem and its inverse for the system are established. Finally, an example is given to illustrate the application of the results.

Constrained sliding mode control of nonlinear fractional order input affine systems

Asymptotic stability of nonlinear fractional order affine systems with bounded inputs is dealt.The main contribution is to design a new bounded fractional order chattering free sliding mode controller in which the system states converge to the sliding surface at a determined finite time.To eliminate the chattering in the sliding mode and make the input controller bounded,hyperbolic tangent is used for designing the proposed fractional order sliding surface.Finally,the stability of the closed loop system using this bounded sliding mode controller is guaranteed by Lyapunov theory.A comparison with the integer order case is then presented and fractional order nonlinear polynomial systems are also studied as the special case.Finally,simulation results are provided to show the effectiveness of the designed controller.

A FORM INVARIANCE OF CONSTRAINED BIRKHOFFIAN SYSTEM

The form invariance of constrained Birkhoffian system is a kind of invariance of the constrained Birkhoffian equations under infinitesimal transformations. The definition and criteria of the form invariance of constrained Birkhoffian system are given, and the relation of the form invariance and the Noether symmetry is studied.

EXISTENCE AND BLOW-UP BEHAVIOR OF CONSTRAINED MINIMIZERS FOR SCHRDINGER-POISSON-SLATER SYSTEM

In this article, we study constrained minimizers of the following variational problem ε（p）：={u∈H1 inf（R3）,｜｜u｜｜22=p} E（u）,ρ〉0,where E（u） is the SchrSdinger-Poisson-Slater （SPS） energy functional E（u）：1/2∫R3｜△u（x）｜2dx-1/4∫R3∫R3u2（y）u2（x）/｜x-y｜dydx-1/p∫R3｜u（x）∫pdx in R3,and p ∈ （2,6）. We prove the existence of minimizers for the cases 2 〈 p 〈10/3, p 〉 0, and P =10/3, 0 〈 p 〈 p＊, and show that e（ρ） = -∞ for the other cases, where p＊ = ｜｜φ｜｜22 and φ（x） is the unique （up to translations） positive radially symmetric solution of -△u ＋ u = u7/3 in R3. Moreover, when e（ρ＊） = -∞, the blow-up behavior of minimizers as p/p＊ is also analyzed rigorously.

Constrained tolerance rough set in incomplete information systems

The tolerance rough set is developed as one of the outstanding extensions of the Pawlak's rough set model under incomplete information,and the limited tolerance relation is developed to overcome the problem that objects leniently satisfy the tolerance relation.However,the classification based on the limited tolerance relationship cannot reflect the matching degree of uncertain information of objects.In this article,we explore the influence of null values in an incomplete system,and propose the constrained tolerance relation based on the matching degree of uncertain information of objects.The proposed rough set based on the constrained tolerance relation can provide a more detailed structure of an object class through threshold.Proofs and example analyses further show the rationality and superiority of the proposed model.

Receding horizon H_∞ control for constrained time-delay systems

A receding horizon Hoo control algorithm is presented for linear discrete time-delay system in the presence of constrained input and disturbances. Disturbance attenuation level is optimized at each time instant, and the receding optimization problem includes several linear matrix inequality constraints. When the convex hull is applied to denote the saturating input, the algorithm has better performance. The numerical example can verify this result.

Neural network solution for finite-horizon H-infinity constrained optimal control of nonlinear systems

In this paper, neural networks are used to approximately solve the finite-horizon constrained input H-infinity state feedback control problem. The method is based on solving a related Hamilton-Jacobi-Isaacs equation of the corresponding finite-horizon zero-sum game. The game value function is approximated by a neural network with time- varying weights. It is shown that the neural network approximation converges uniformly to the game-value function and the resulting almost optimal constrained feedback controller provides closed-loop stability and bounded L2 gain. The result is an almost optimal H-infinity feedback controller with time-varying coefficients that is solved a priori off-line. The effectiveness of the method is shown on the Rotational/Translational Actuator benchmark nonlinear control problem.

The Limit of Noether Conserved Charges is the Number of Primary First-Class Constraints in a Constrained System

We discuss the stationarity of generator G for gauge symmetries in two directions.One is to the motion equations defined by total Hamiltonian H T,and gives that the number of the independent coefficients in the generator G is not greater than the number of the primary first-class constraints,and the number of Noether conserved charges is not greater than that of the primary first-class constraints,too.The other is to the variances of canonical variables deduced from the generator G,and gives the variances of Lagrangian multipliers contained in extended Hamiltonian H E.And a second-class constraint generated by a first-class constraint may imply a new first-class constraint which can be combined by introducing other second-class constraints.Finally,we supply two examples.One with three first-class constraints(two is primary and one is secondary) has two Noether conserved charges,and the secondary first-class constraint is combined by three second-class constraints which are a secondary and two primary second-class constraints.The other with two first-class constraints(one is primary and one is secondary) has one Noehter conserved charge.

Generalized geometry theory on constrained rotating relativistic Birkhoffian systems

This paper focuses on studying the generalized geometry theory of constrained rotating relativistic Birkhoffian systems. Based on the fact that relativistic rotating inertia is embedded in the Birkhoffian systems, the Pfaff action of rotating relativistic Birkhoffian systems was defined. The Pfaff-Birkhoff principles and Birkhoff＇s equations of the constrained rotating relativistic systems were obtained. The geometrical description, the exact properties and their forms on R T^＊M for the constrained rotating relativistic Birkhoffian systems are given. The global analyses of the autonomous, semi-autonomous and non-autonomous constrained relativistic Birkhoff＇s equations as well as the geometrical properties of energy change for the constrained rotating relativistic Birkhoffian systems were also conducted.

Application of the Constrained Predicated Nets and Interval Logic to Production Systems

A method to model and analyze the hybrid systems is presented. The time to be considered in the plant is taken as an explicit parameter through the constrained predicated net (CPN). The CPN's basic structure is a Petri net with predicated transition. All components of the net are expressed by annotation which is defined on rational set Q. The analysis method for the plant is interval temporal logic represented by Petri nets. This paper combines the above two methods to synthesize the hybrid system, gives a simple and clear expression of the expected action of the studied plant.

LIE GROUP INTEGRATION FOR CONSTRAINED GENERALIZED HAMILTONIAN SYSTEM WITH DISSIPATION BY PROJECTION METHOD

For the constrained generalized Hamiltonian system with dissipation, by introducing Lagrange multiplier and using projection technique, the Lie group integration method was presented, which can preserve the inherent structure of dynamic system and the constraint-invariant. Firstly, the constrained generalized Hamiltonian system with dissipative was converted to the non-constraint generalized Hamiltonian system, then Lie group integration algorithm for the non-constraint generalized Hamiltonian system was discussed, finally the projection method for generalized Hamiltonian system with constraint was given. It is found that the constraint invariant is ensured by projection technique, and after introducing Lagrange multiplier the Lie group character of the dynamic system can't be destroyed while projecting to the constraint manifold. The discussion is restricted to the case of holonomic constraint. A presented numerical example shows the effectiveness of the method.