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Consensus of second-order nonlinear multi-agent systems via sliding mode observer and controller 被引量:1
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作者 Xiaolei Li Xiaoyuan Luo +2 位作者 Shaobao Li Jianjin Li Xinping Guan 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2017年第4期756-765,共10页
This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order ... This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws. 展开更多
关键词 nonlinear multi-agent system sliding mode observer CONSENSUS sliding mode controller
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Combined influence of nonlinearity and dilation on slope stability evaluated by upper-bound limit analysis 被引量:7
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作者 TANG Gao-peng ZHAO Lian-heng +1 位作者 LI Liang CHEN Jing-yu 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第7期1602-1611,共10页
The combined influence of nonlinearity and dilation on slope stability was evaluated using the upper-bound limit analysis theorem.The mechanism of slope collapse was analyzed by dividing it into arbitrary discrete soi... The combined influence of nonlinearity and dilation on slope stability was evaluated using the upper-bound limit analysis theorem.The mechanism of slope collapse was analyzed by dividing it into arbitrary discrete soil blocks with the nonlinear Mohr–Coulomb failure criterion and nonassociated flow rule.The multipoint tangent(multi-tangent) technique was used to analyze the slope stability by linearizing the nonlinear failure criterion.A general expression for the slope safety factor was derived based on the virtual work principle and the strength reduction technique,and the global slope safety factor can be obtained by the optimization method of nonlinear sequential quadratic programming.The results show better agreement with previous research result when the nonlinear failure criterion reduces to a linear failure criterion or the non-associated flow rule reduces to an associated flow rule,which demonstrates the rationality of the presented method.Slope safety factors calculated by the multi-tangent inclined-slices technique were smaller than those obtained by the traditional single-tangent inclined-slices technique.The results show that the multi-tangent inclined-slices technique is a safe and effective method of slope stability limit analysis.The combined effect of nonlinearity and dilation on slope stability was analyzed,and the parameter analysis indicates that nonlinearity and dilation have significant influence on the result of slope stability analysis. 展开更多
关键词 SLOPE stability ANALYSIS nonlinear failure criterion non-associated flow rule multipoint TANGENT technique upper-bound limit ANALYSIS THEOREM
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Consensus problem of second-order multi-agent systems with time-varying communication delay and switching topology 被引量:9
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作者 Chenglin Liu Fei Liu 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2011年第4期672-678,共7页
Leader-following stationary consensus problem is investigated for the second-order multi-agent systems with timevarying communication delay and switching topology. Based on Lyapunov-Krasovskii functional and Lyapunov-... Leader-following stationary consensus problem is investigated for the second-order multi-agent systems with timevarying communication delay and switching topology. Based on Lyapunov-Krasovskii functional and Lyapunov-Razumikhin functions respectively, consensus criterions in the form of linear matrix inequality (LMI) are obtained for the system with time-varying communication delays under static interconnection topology con- verging to the leader's states. Moreover, the delay-dependent consensus criterion in the form of LMI is also obtained for the system with time-invariant communication delay and switching topologies by constructing Lyapunov-Krasovskii functional. Numerical simulations present the correctness of the results. 展开更多
关键词 second-order multi-agent system time-varyingcommunication delay switching topology Lyapunov-Krasovskii Lyapunov-Razumikhin.
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Slope stability analysis considering joined influences of nonlinearity and dilation 被引量:19
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作者 杨小礼 黄阜 《Journal of Central South University》 SCIE EI CAS 2009年第2期292-296,共5页
The soil masses of slopes were assumed to follow a nonlinear failure criterion and a nonassociated flow rule.The stability factors of slopes were calculated using vertical slice method based on limit analysis.The pote... The soil masses of slopes were assumed to follow a nonlinear failure criterion and a nonassociated flow rule.The stability factors of slopes were calculated using vertical slice method based on limit analysis.The potential sliding mass was divided into a series of vertical slices as well as the traditional slice technique.Equating the external work rate to the internal energy dissipation,the optimum solutions to stability factors were determined by the nonlinear programming algorithm.From the numerical results,it is found that the present solutions agree well with previous results when the nonlinear criterion reduces to the linear criterion,and the nonassociated flow rule reduces to the associated flow rule.The stability factors decrease by 39.7%with nonlinear parameter varying from 1.0 to 3.0.Dilation and nonlinearity have significant effects on the slope stability factors. 展开更多
关键词 nonlinear failure criterion nonassociated flow rule soil slope
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Second-order consensus in networks of dynamic agents with communication time-delays 被引量:5
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作者 Bo Yang1,2, Huajing Fang3, and Hua Wang4 1. School of Navigation, Wuhan University of Technology, Wuhan 430063, P. R. China 2. Wuhan Second Ship Design and Research Institute, Wuhan 430064, P. R. China +1 位作者 3. Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, P. R. China 4. Department of Aerospace and Mechanical Engineering, Boston University, Boston MA02215, USA 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2010年第1期88-94,共7页
This paper proposes second-order consensus protocols with time-delays and gives the measure of the robustness of the protocols to the time-delay existing in the network of agents with second-order dynamics. By employi... This paper proposes second-order consensus protocols with time-delays and gives the measure of the robustness of the protocols to the time-delay existing in the network of agents with second-order dynamics. By employing a frequency domain method, it is proven that the information states and their time derivatives of all the agents in the network achieve consensus asymptotically, respectively, for appropriate communication timedelay if the topology of weighted network is connected. Particularly, a tight upper bound on the communication time-delay that can be tolerated in the dynamic network is found. The consensus protocols are distributed in the sense that each agent only needs information from its neighboring agents, which reduces the complexity of connections between neighboring agents significantly. Numerical simulation results are provided to demonstrate the effectiveness and the sharpness of the theoretical results for second-order consensus in networks in the presence of communication time-delays. 展开更多
关键词 second-order consensus protocols dynamic networks algebraic graph theory frequency domain analysis com-munication constraints.
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Approximate Controllability of Second-Order Neutral Stochastic Differential Equations with Infinite Delay and Poisson Jumps 被引量:4
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作者 PALANISAMY Muthukumar CHINNATHAMBI Rajivganthi 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2015年第5期1033-1048,共16页
The modelling of risky asset by stochastic processes with continuous paths, based on Brow- nian motions, suffers from several defects. First, the path continuity assumption does not seem reason- able in view of the po... The modelling of risky asset by stochastic processes with continuous paths, based on Brow- nian motions, suffers from several defects. First, the path continuity assumption does not seem reason- able in view of the possibility of sudden price variations (jumps) resulting of market crashes. A solution is to use stochastic processes with jumps, that will account for sudden variations of the asset prices. On the other hand, such jump models are generally based on the Poisson random measure. Many popular economic and financial models described by stochastic differential equations with Poisson jumps. This paper deals with the approximate controllability of a class of second-order neutral stochastic differential equations with infinite delay and Poisson jumps. By using the cosine family of operators, stochastic analysis techniques, a new set of sufficient conditions are derived for the approximate controllability of the above control system. An example is provided to illustrate the obtained theory. 展开更多
关键词 Approximate controllability Hilbert space Poisson jumps second-order neutral stochas-tic differential equations semigroup theory.
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Parameter estimation for dual-rate sampled Hammerstein systems with dead-zone nonlinearity 被引量:1
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作者 WANG Hongwei CHEN Yuxiao 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2020年第1期185-193,共9页
The identification of nonlinear systems with multiple sampled rates is a difficult task.The motivation of our paper is to study the parameter estimation problem of Hammerstein systems with dead-zone characteristics by... The identification of nonlinear systems with multiple sampled rates is a difficult task.The motivation of our paper is to study the parameter estimation problem of Hammerstein systems with dead-zone characteristics by using the dual-rate sampled data.Firstly,the auxiliary model identification principle is used to estimate the unmeasurable variables,and the recursive estimation algorithm is proposed to identify the parameters of the static nonlinear model with the dead-zone function and the parameters of the dynamic linear system model.Then,the convergence of the proposed identification algorithm is analyzed by using the martingale convergence theorem.It is proved theoretically that the estimated parameters can converge to the real values under the condition of continuous excitation.Finally,the validity of the proposed algorithm is proved by the identification of the dual-rate sampled nonlinear systems. 展开更多
关键词 dual-rate sampled data dead-zone nonlinearity Hammerstein model system identification convergence analysis
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Design of Luenberger function observer with disturbance decoupling for matrix second-order linear systems-a parametric approach 被引量:1
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作者 Wu Yunli Duan Guangren 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2006年第1期156-162,共7页
A simple method for disturbance decoupling for matrix second-order linear systems is proposed directly in matrix second-order framework via Luenberger function observers based on complete parametric eigenstructure ass... A simple method for disturbance decoupling for matrix second-order linear systems is proposed directly in matrix second-order framework via Luenberger function observers based on complete parametric eigenstructure assignment. By introducing the H2 norm of the transfer function from disturbance to estimation error, sufficient and necessary conditions for disturbance decoupling in matrix second-order linear systems are established and are arranged into constraints on the design parameters via Luenberger function observers in terms of the closed-loop eigenvalues and the group of design parameters provided by the eigenstructure assignment approach. Therefore, the disturbance decoupling problem is converted into an eigenstructure assignment problem with extra parameter constraints. A simple example is investigated to show the effect and simplicity of the approach. 展开更多
关键词 matrix second-order linear systems Luenberger function observers eigenstructure assignment disturbance decoupling
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Critical embedment depth of a rigid retaining wall against overturning in unsaturated soils considering intermediate principal stress and strength nonlinearity 被引量:4
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作者 张常光 陈新栋 范文 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第4期944-954,共11页
The overturning stability is vital for the retaining wall design of foundation pits, where the surrounding soils are usually unsaturated due to water draining. Moreover, the intermediate principal stress does affect t... The overturning stability is vital for the retaining wall design of foundation pits, where the surrounding soils are usually unsaturated due to water draining. Moreover, the intermediate principal stress does affect the unsaturated soil strength; meanwhile, the relationship between the unsaturated soil strength and matric suction is nonlinear. This work is to present closed-form equations of critical embedment depth for a rigid retaining wall against overturning by means of moment equilibrium. Matric suction is considered to be distributed uniformly and linearly with depth. The unified shear strength formulation for unsaturated soils under the plane strain condition is adopted to characterize the intermediate principal stress effect, and strength nonlinearity is described by a hyperbolic model of suction angle. The result obtained is orderly series solutions rather than one specific answer; thus, it has wide theoretical significance and good applicability. The validity of this present work is demonstrated by comparing it with a lower bound solution. The traditional overturning designs for rigid retaining walls, in which the saturated soil mechanics neglecting matric suction or the unsaturated soil mechanics based on the Mohr-Coulomb criterion are employed, are special cases of the proposed result. Parametric studies about the intermediate principal stress, matric suction and its distributions along with two strength nonlinearity methods on a new defined critical buried coefficient are discussed. 展开更多
关键词 unsaturated soils retaining walls overturning stability critical embedment depth intermediate principal stress strength nonlinearity
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Measurement of reflected second harmonics and nonlinearity parameter using a transducer with complex structure
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作者 MA Qingyu, LU Rongrong, ZHANG Dong, GONG Xiufen, LIU Xiaozhou (State key Laboratory of Modern Acoustics, Institute of Acoustics, Nanjing University, Nanjing 210097,China) 《声学技术》 CSCD 2003年第z1期24-27,共4页
Measurement of nonlinearity parameter using the second-harmonic reflective model is studied. A new kind of compound transducer is designed and fabricated for this purpose. With this transducer and the finite amplitude... Measurement of nonlinearity parameter using the second-harmonic reflective model is studied. A new kind of compound transducer is designed and fabricated for this purpose. With this transducer and the finite amplitude insert-substitution method, an experimental system to measure the nonlinearity parameter using reflective model is developed. B/A values of some liquids and biological tissues are obtained and results coincide well with those presented in the literatures. 展开更多
关键词 nonlinearity parameter REFLECTIVE mode COMPOUND TRANSDUCER
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Second-order modeling of non-premixed turbulent methane-air combustion
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作者 Ali ERSHADI Mehran RAJABI ZARGARABADI 《Journal of Central South University》 SCIE EI CAS CSCD 2021年第11期3545-3555,共11页
The main purpose of this research is the second-order modeling of flow and turbulent heat flux in nonpremixed methane-air combustion.A turbulent stream of non-premixed combustion in a stoichiometric condition,is numer... The main purpose of this research is the second-order modeling of flow and turbulent heat flux in nonpremixed methane-air combustion.A turbulent stream of non-premixed combustion in a stoichiometric condition,is numerically analyzed through the Reynolds averaged Navier-Stokes(RANS) equations.For modeling radiation and combustion,the discrete ordinates(DO) and eddy dissipation concept model have been applied.The Reynolds stress transport model(RSM) also was used for turbulence modeling.For THF in the energy equation,the GGDH model and high order algebraic model of HOGGDH with simple eddy diffusivity model have been applied.Comparing the numerical results of the SED model(with the turbulent Prandtl 0.85) and the second-order heat flux models with available experimental data follows that applying the second-order models significantly led to the modification of predicting temperature distribution and species mass fraction distribution in the combustion chamber.Calculation of turbulent Prandtl number in the combustion chamber shows that the assumption of Pr_(t) of 0.85 is far from reality and Pr_(t) in different areas varies from 0.4 to 1.2. 展开更多
关键词 combustion modeling turbulent Prandtl number second-order models Reynolds stress transport model
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A novel robust fixed time synchronization of complex network subject to input nonlinearity in the presence of uncertainties and external disturbances
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作者 Mehrdad SHIRKAVAND Mohammad Reza SOLTANPOUR 《Journal of Central South University》 SCIE EI CAS CSCD 2020年第2期418-431,共14页
This paper studies the global fixed time synchronization of complex dynamical network,including non-identical nodes with disturbances and uncertainties as well as input nonlinearity.First,a novel fixed time sliding ma... This paper studies the global fixed time synchronization of complex dynamical network,including non-identical nodes with disturbances and uncertainties as well as input nonlinearity.First,a novel fixed time sliding manifold is constructed to achieve the fixed time synchronization of complex dynamical network with disturbances and uncertainties.Second,a novel sliding mode controller is proposed to realize the global fixed time reachability of sliding surfaces.The outstanding feature of the designed control is that the fixed convergence time of both reaching and sliding modes can be adjusted to the desired values in advance by choosing the explicit parameters in the controller,which does not rest upon the initial conditions and the topology of the network.Finally,the effectiveness and validity of the obtained results are demonstrated by corresponding numerical simulations. 展开更多
关键词 complex dynamical networks fixed time sliding mode control SYNCHRONIZATION input nonlinearity UNCERTAINTIES disturbances
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Normalized Solutions of Nonlinear Choquard Equations with Nonconstant Potential
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作者 LI Nan XU Liping 《应用数学》 北大核心 2025年第1期14-29,共16页
In this paper,we mainly focus on a type of nonlinear Choquard equations with nonconstant potential.Under appropriate hypotheses on potential function and nonlinear terms,we prove that the above Choquard equation with ... In this paper,we mainly focus on a type of nonlinear Choquard equations with nonconstant potential.Under appropriate hypotheses on potential function and nonlinear terms,we prove that the above Choquard equation with prescribed 2-norm has some normalized solutions by introducing variational methods. 展开更多
关键词 nonlinear Choquard equation Potential function Variational method Normalized solution
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Synthesis and third‑order nonlinear optical property of Ti_(4)L_(6) cage‑based metal‑organic framework
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作者 CHEN Ruiyan HE Yanping ZHANG Jian 《无机化学学报》 北大核心 2025年第10期2149-2156,共8页
Herein,we report the synthesis and third-order nonlinear optical(NLO)properties of a novel cage-based 2D metal-organic framework constructed from Ti_(4)L_(6)(L4-=embonate)cage combined with Mg^(2+)and tris[4-(1H-imida... Herein,we report the synthesis and third-order nonlinear optical(NLO)properties of a novel cage-based 2D metal-organic framework constructed from Ti_(4)L_(6)(L4-=embonate)cage combined with Mg^(2+)and tris[4-(1H-imidazol-1-yl)phenyl]amine(tipa)ligand,whose molecular formula is(Me_(2)CH_(2))_(2)[Mg_(3)(Ti_(4)L_(6))(tipa)(H_(2)O)_(12)](PTC‑378).The Ti_(4)L_(6)tetrahedral cages serve as robust building units,while the Mg^(2+)ions and tipa ligands provide structural stability and tunable optical properties.The resulting PTC‑378 film exhibited intriguing third-order NLO property,which was systematically investigated using Z-scan techniques.Our results demonstrate that the synergistic interaction between Ti_(4)L_(6)cages andπ-conjugated ligands significantly enhances the NLO performance of the materials.CCDC:2453909. 展开更多
关键词 titanium-organic cage metal-organic framework crystal structure nonlinear optics
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Investigating Solutions in Nonlinear Evolution Equations:A Focus on Local Existence in Mixed Types
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作者 NAFFISA Toureche Trouba FAN Long ABDELGHANI Dahou 《应用数学》 北大核心 2025年第3期691-702,共12页
With the urgent need to resolve complex behaviors in nonlinear evolution equations,this study makes a contribution by establishing the local existence of solutions for Cauchy problems associated with equations of mixe... With the urgent need to resolve complex behaviors in nonlinear evolution equations,this study makes a contribution by establishing the local existence of solutions for Cauchy problems associated with equations of mixed types.Our primary contribution is the establishment of solution existence,illuminating the dynamics of these complex equations.To tackle this challenging problem,we construct an approximate solution sequence and apply the contraction mapping principle to rigorously prove local solution existence.Our results significantly advance the understanding of nonlinear evolution equations of mixed types.Furthermore,they provide a versatile,powerful approach for tackling analogous challenges across physics,engineering,and applied mathematics,making this work a valuable reference for researchers in these fields. 展开更多
关键词 nonlinear evolution equation Contraction mapping principle Sobolev space Dissipative system
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Non-existence of the nontrivial solution for a Sobolev type evolution inequality with nonlinear convolution term
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作者 SU Jiahui LIU Dengming 《中山大学学报(自然科学版)(中英文)》 北大核心 2025年第5期146-153,共8页
An evolution inequality of Sobolev type involving a nonlinear convolution term is considered.By using the nonlinear capacity method and the contradiction argument,the non-existence of the nontrivial local weak solutio... An evolution inequality of Sobolev type involving a nonlinear convolution term is considered.By using the nonlinear capacity method and the contradiction argument,the non-existence of the nontrivial local weak solution is proved. 展开更多
关键词 Sobolev type evolution inequality nonlinear convolution term nontrivial solution nonexistence
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Optimizing the generation of second harmonic optical vortices from nonlinear photonic crystals
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作者 LIU Shiqiang ZHANG Xinyu +4 位作者 CHEN Yan LI Shifeng ZHAO Gang ZHU Shining HU Xiaopeng 《物理学进展》 北大核心 2025年第4期161-168,共8页
The generation of optical vortices from nonlinear photonic crystals(NPCs)with spatially modulated second-order nonlinearity offers a promising approach to extend the working wavelength and topological charge of vortex... The generation of optical vortices from nonlinear photonic crystals(NPCs)with spatially modulated second-order nonlinearity offers a promising approach to extend the working wavelength and topological charge of vortex beams for various applications.In this work,the second harmonic(SH)optical vortex beams generated from nonlinear fork gratings under Gaussian beam illumination are numerically investigated.The far-field intensity and phase distributions,as well as the orbital angular momentum(OAM)spectra of the SH beams,are analyzed for different structural topological charges and diffraction orders.Results reveal that higher-order diffraction and larger structural topological charges lead to angular interference patterns and non-uniform intensity distributions,deviating from the standard vortex profile.To optimize the SH vortex quality,the effects of the fundamental wave beam waist,crystal thickness,and grating duty cycle are explored.It is shown that increasing the beam waist can effectively suppress diffraction order interference and improve the beam’s quality.This study provides theoretical guidance for enhancing the performance of nonlinear optical devices based on NPCs. 展开更多
关键词 optical vortex nonlinear photonic crystal second harmonic generation orbital angular momentum
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A New Technique for Constructing Higher-order Iterative Methods to Solve Nonlinear Systems
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作者 XIAO Xiaoyong 《应用数学》 北大核心 2025年第3期762-774,共13页
In this paper,a new technique is introduced to construct higher-order iterative methods for solving nonlinear systems.The order of convergence of some iterative methods can be improved by three at the cost of introduc... In this paper,a new technique is introduced to construct higher-order iterative methods for solving nonlinear systems.The order of convergence of some iterative methods can be improved by three at the cost of introducing only one additional evaluation of the function in each step.Furthermore,some new efficient methods with a higher-order of convergence are obtained by using only a single matrix inversion in each iteration.Analyses of convergence properties and computational efficiency of these new methods are made and testified by several numerical problems.By comparison,the new schemes are more efficient than the corresponding existing ones,particularly for large problem sizes. 展开更多
关键词 Systems of nonlinear equation Order of convergence Higher-order method Extended Newton iteration Computational efficiency
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Field system-level calibration method for accelerometer considering nonlinear coefficients
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作者 WU Haotian YU Ruihang +2 位作者 CAO Juliang MA Caixia YANG Bainan 《Journal of Systems Engineering and Electronics》 2025年第3期814-824,共11页
In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension ... In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension Kalman filter is constructed to reduce impact brought by turntable.Then,a biaxial rotation path is designed based on the accelerometer output model,including orthogonal 22 positions and tilt 12 positions,which enhances gravity excitation on nonlinear coefficients of accelerometer.Finally,sampling is carried out for calibration and further experiments.The results of static inertial navigation experiments lasting 4000 s show that compared with the traditional method,the proposed method reduces the position error by about 390 m. 展开更多
关键词 ACCELEROMETER nonlinear coefficient system-level calibration rotation path
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A numerical study of 1-D nonlinear P-wave propagation in solid 被引量:10
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作者 郑海山 张中杰 杨宝俊 《地震学报》 CSCD 北大核心 2004年第1期77-83,共7页
Two central schemes of finite difference (FD) up to different accuracy orders of space sampling step Dx (Fourth order and Sixth order respectively) were used to study the 1-D nonlinear P-wave propagation in the nonlin... Two central schemes of finite difference (FD) up to different accuracy orders of space sampling step Dx (Fourth order and Sixth order respectively) were used to study the 1-D nonlinear P-wave propagation in the nonlinear solid media by the numerical method. Distinctly different from the case of numerical modeling of linear elastic wave, there may be several difficulties in the numerical treatment to the nonlinear partial differential equation, such as the steep gradients, shocks and unphysical oscillations. All of them are the great obstacles to the stability and conver-gence of numerical calculation. Fortunately, the comparative study on the modeling of nonlinear wave by the two FD schemes presented in the paper can provide us with an easy method to keep the stability and convergence in the calculation field when the product of the absolute value of nonlinear coefficient and the value of u/x are small enough, namely, the value of bu/x is much smaller than 1. Several results are founded in the numerical study of nonlinear P-wave propagation, such as the waveform aberration, the generation and growth of harmonic wave and the energy redistribution among different frequency components. All of them will be more violent when the initial amplitude A0 is larger or the nonlinearity of medium is stronger. Correspondingly, we have found that the nonlinear P-wave propagation velocity will change with different initial frequency f of source wave or the wave velocity c (equal to the P-wave velocity in the same medium without considering nonlinearity). 展开更多
关键词 数值模拟 精度 中心差分格式 扰动 非线性波
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