In this article, we provide estimates for the degree of V bilipschitz determinacy of weighted homogeneous function germs defined on weighted homogeneous analytic variety V satisfying a convenient Lojasiewicz condition...In this article, we provide estimates for the degree of V bilipschitz determinacy of weighted homogeneous function germs defined on weighted homogeneous analytic variety V satisfying a convenient Lojasiewicz condition.The result gives an explicit order such that the geometrical structure of a weighted homogeneous polynomial function germs is preserved after higher order perturbations.展开更多
We provide estimates on the degree of C l GV determinacy （ G is one of Mather’s groups R or K ） of function germs which are defined on analytic variety V and satisfies a non-degeneracy condition with respect to som...We provide estimates on the degree of C l GV determinacy （ G is one of Mather’s groups R or K ） of function germs which are defined on analytic variety V and satisfies a non-degeneracy condition with respect to some Newton polyhedron. The result gives an explicit order such that the C l geometrical structure of a function germ is preserved after higher order perturbations, which generalizes the result on C l G triviality of function germs given by M.A.S.Ruas.展开更多
In this paper, a curved path following control algorithm for miniature unmanned aerial vehicles（UAVs） in winds with constant speed and altitude is developed. Different to the widely considered line or orbit followin...In this paper, a curved path following control algorithm for miniature unmanned aerial vehicles（UAVs） in winds with constant speed and altitude is developed. Different to the widely considered line or orbit following, the curved path to be followed is defined in terms of the arc-length parameter, which can be straight lines, orbits, B-splines or any other curves provided that they are smooth. The proposed path following control algorithm, named by VF-SMC, is combining the vector field（VF） strategy with the sliding mode control（SMC） method. It is proven that the designed algorithm guarantees the tracking errors to be a bounded ball in the presence of winds, with the aid of the Lyapunov method and the BIBO stability. The algorithm is validated both in Matlab-based simulations and high-fidelity semi-physical simulations. In Matlab-based simulations, the proposed algorithm is verified for straight lines, orbits and B-splines to show its wide usage in different curves.The high-fidelity semi-physical simulation system is composed of actual autopilot controller, ground station and X-Plane flight simulator in-loop. In semi-physical simulations, the proposed algorithm is verified for B-spline path following under various gain parameters and wind conditions thoroughly.All experiments show the accuracy in curved path following and the excellent robustness to wind disturbances of the proposed algorithm.展开更多
Given a system of vector fields on a smooth manifold that spans a plane field of constant rank, we present a systematic method and an algorithm to find submanifolds that are invariant under the flows of the vector fie...Given a system of vector fields on a smooth manifold that spans a plane field of constant rank, we present a systematic method and an algorithm to find submanifolds that are invariant under the flows of the vector fields. We present examples of partition into invariant submanifolds, which further gives partition into orbits. We use the method of generalized Frobenius theorem by means of exterior differential systems.展开更多
基金Supported by the National Nature Science Foundation of China(10671009,60534080,10871149)
文摘In this article, we provide estimates for the degree of V bilipschitz determinacy of weighted homogeneous function germs defined on weighted homogeneous analytic variety V satisfying a convenient Lojasiewicz condition.The result gives an explicit order such that the geometrical structure of a weighted homogeneous polynomial function germs is preserved after higher order perturbations.
基金supported by the National Nature Science Foundation of China(10671009 10871149)
文摘We provide estimates on the degree of C l GV determinacy （ G is one of Mather’s groups R or K ） of function germs which are defined on analytic variety V and satisfies a non-degeneracy condition with respect to some Newton polyhedron. The result gives an explicit order such that the C l geometrical structure of a function germ is preserved after higher order perturbations, which generalizes the result on C l G triviality of function germs given by M.A.S.Ruas.
基金supported by the National Natural Science Foundation of China under Grant No.61403406
文摘In this paper, a curved path following control algorithm for miniature unmanned aerial vehicles（UAVs） in winds with constant speed and altitude is developed. Different to the widely considered line or orbit following, the curved path to be followed is defined in terms of the arc-length parameter, which can be straight lines, orbits, B-splines or any other curves provided that they are smooth. The proposed path following control algorithm, named by VF-SMC, is combining the vector field（VF） strategy with the sliding mode control（SMC） method. It is proven that the designed algorithm guarantees the tracking errors to be a bounded ball in the presence of winds, with the aid of the Lyapunov method and the BIBO stability. The algorithm is validated both in Matlab-based simulations and high-fidelity semi-physical simulations. In Matlab-based simulations, the proposed algorithm is verified for straight lines, orbits and B-splines to show its wide usage in different curves.The high-fidelity semi-physical simulation system is composed of actual autopilot controller, ground station and X-Plane flight simulator in-loop. In semi-physical simulations, the proposed algorithm is verified for B-spline path following under various gain parameters and wind conditions thoroughly.All experiments show the accuracy in curved path following and the excellent robustness to wind disturbances of the proposed algorithm.
基金supported by National Research Foundation of Republic of Korea (Grant No. 2011-0008976)
文摘Given a system of vector fields on a smooth manifold that spans a plane field of constant rank, we present a systematic method and an algorithm to find submanifolds that are invariant under the flows of the vector fields. We present examples of partition into invariant submanifolds, which further gives partition into orbits. We use the method of generalized Frobenius theorem by means of exterior differential systems.
