Metaheuristic Optimization of PD and PID Controllers for Robotic Manipulators

In this paper, the Particle Swarm Optimization algorithm (PSO) is combined with Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) to design more efficient PD and PID controllers for robotic manipulators. PSO is used to optimize the controller parameters Kp (proportional gain), Ki (integral gain) and Kd (derivative gain) to achieve better performances. The proposed algorithm is performed in two steps: (1) First, PD and PID parameters are offline optimized by the PSO algorithm. (2) Second, the obtained optimal parameters are fed in the online control loop. Stability of the proposed scheme is established using Lyapunov stability theorem, where we guarantee the global stability of the resulting closed-loop system, in the sense that all signals involved are uniformly bounded. Computer simulations of a two-link robotic manipulator have been performed to study the efficiency of the proposed method. Simulations and comparisons with genetic algorithms show that the results are very encouraging and achieve good performances.

Error feedback regulation for 1D anti-stable wave equation

This paper is concerned with the boundary error feedback regulation for a one-dimensional anti-stable wave equation with distributed disturbance generated by a finite-dimensional exogenous system. Transport equation and regulator equation are introduced first to deal with the anti-damping on boundary and the distributed disturbance of the original system. Then, the tracking error and its derivative are measured to design an observer for both exosystem and auxiliary partial differential equation (PDE) system to recover the state. After proving the well-posedness of the regulator equations, we propose an observer-based controller to regulate the tracking error to zero exponentially and keep the states of all the internal loop uniformly bounded. Finally, some numerical simulations are presented to validate the effectiveness of the proposed controller.

The form of locally defined operators in waterman spaces

A representation formula for locally defined operators acting between Banach spaces of continuous functions of bounded variation in the Waterman sense is presented. Moreover, the Nemytskij composition operators will be investigated and some consequences for locally bounded as well as uniformly bounded local operators will be given.

A generalization of the Kobayashi–Oshima uniformly bounded multiplicity theorem

Let [Formula: see text] be a minimal parabolic subgroup of a real reductive Lie group [Formula: see text] and [Formula: see text] a closed subgroup of [Formula: see text]. Then it is proved by Kobayashi and Oshima that the regular representation [Formula: see text] contains each irreducible representation of [Formula: see text] at most finitely many times if the number of [Formula: see text]-orbits on [Formula: see text] is finite. Moreover, they also proved that the multiplicities are uniformly bounded if the number of [Formula: see text]-orbits on [Formula: see text] is finite, where [Formula: see text] are complexifications of [Formula: see text], respectively, and [Formula: see text] is a Borel subgroup of [Formula: see text]. In this paper, we prove that the multiplicities of the representations of [Formula: see text] induced from a parabolic subgroup [Formula: see text] in the regular representation on [Formula: see text] are uniformly bounded if the number of [Formula: see text]-orbits on [Formula: see text] is finite. For the proof of this claim, we also show the uniform boundedness of the dimensions of the spaces of group invariant hyperfunctions using the theory of holonomic [Formula: see text]-modules.

Global solvability and asymptotic stabilization in a three-dimensional Keller–Segel–Navier–Stokes system with indirect signal production

This paper deals with the Keller–Segel–Navier–Stokes model with indirect signal production in a three-dimensional (3D) bounded domain with smooth boundary. When the logistic-type degradation here is weaker than the usual quadratic case, it is proved that for any sufficiently regular initial data, the associated no-flux/no-flux/no-flux/Dirichlet problem possesses at least one globally defined solution in an appropriate generalized sense, and that this solution is uniformly bounded in [Formula: see text] with any [Formula: see text]. Moreover, under an explicit condition on the chemotactic sensitivity, these solutions are shown to stabilize toward the corresponding spatially homogeneous state in the sense of some suitable norms. We underline that the same results were established for the corresponding system with direct signal production in a well-known result if the degradation is quadratic. Our result rigorously confirms that the indirect signal production mechanism genuinely contributes to the global solvability of the 3D Keller–Segel–Navier–Stokes system.

The limit empirical spectral distribution of complex matrix polynomials

We study the empirical spectral distribution (ESD) for complex [Formula: see text] matrix polynomials of degree [Formula: see text] under relatively mild assumptions on the underlying distributions, thus highlighting universality phenomena. In particular, we assume that the entries of each matrix coefficient of the matrix polynomial have mean zero and finite variance, potentially allowing for distinct distributions for entries of distinct coefficients. We derive the almost sure limit of the ESD in two distinct scenarios: (1) [Formula: see text] with [Formula: see text] constant and (2) [Formula: see text] with [Formula: see text] bounded by [Formula: see text] for some [Formula: see text]; the second result additionally requires that the underlying distributions are continuous and uniformly bounded. Our results are universal in the sense that they depend on the choice of the variances and possibly on [Formula: see text] (if it is kept constant), but not on the underlying distributions. The results can be specialized to specific models by fixing the variances, thus obtaining matrix polynomial analogues of results known for special classes of scalar polynomials, such as Kac, Weyl, elliptic and hyperbolic polynomials.

Boundedness of planar jump discontinuities for homogeneous hyperbolic systems

Suppose that [Formula: see text] is a homogeneous constant coefficient strongly hyperbolic partial differential operator on [Formula: see text] and that [Formula: see text] is a characteristic hyperplane. Suppose that in a conic neighborhood of the conormal variety of [Formula: see text], the characteristic variety of [Formula: see text] is the graph of a real analytic function [Formula: see text] with [Formula: see text] identically equal to zero or the maximal possible value [Formula: see text]. Suppose that the source function [Formula: see text] is compactly supported in [Formula: see text] and piecewise smooth with singularities only on [Formula: see text]. Then the solution of [Formula: see text] with [Formula: see text] for [Formula: see text] is uniformly bounded on [Formula: see text]. Typically when [Formula: see text] on the conormal variety, the sup norm of the jump in the gradient of [Formula: see text] across [Formula: see text] grows linearly with [Formula: see text].

Large-Amplitude Steady Downstream Water Waves

We study wave-current interactions in two-dimensional water flows of constant vorticity over a flat bed. For large-amplitude periodic traveling gravity waves that propagate at the water surface in the same direction as the underlying current (downstream waves), we prove explicit uniform bounds for their amplitude. In particular, our estimates show that the maximum amplitude of the waves becomes vanishingly small as the vorticity increases without limit. We also prove that the downstream waves on a global bifurcating branch are never overhanging, and that their mass flux and Bernoulli constant are uniformly bounded.

Random Variate Generation for Exponential and Gamma Tilted Stable Distributions

We develop a new efficient simulation scheme for sampling two families of tilted stable distributions: exponential tilted stable (ETS) and gamma tilted stable (GTS) distributions. Our scheme is based on two-dimensional single rejection. For the ETS family, its complexity is uniformly bounded over all ranges of parameters. This new algorithm outperforms all existing schemes. In particular, it is more efficient than the well-known double rejection scheme, which is the only algorithm with uniformly bounded complexity that we can find in the current literature. Beside the ETS family, our scheme is also flexible to be further extended for generating the GTS family, which cannot easily be done by extending the double rejection scheme. Our algorithms are straightforward to implement, and numerical experiments and tests are conducted to demonstrate the accuracy and efficiency.