Singular Problems Research Articles

Fixed-time self-triggered fuzzy adaptive control of N-link robotic manipulators

This paper studies the fixed-time fuzzy adaptive self-triggered control of n-link robotic manipulators. To achieve fixed-time stability, a fuzzy adaptive fixed-time control algorithm is proposed by reconstructing the self-triggered controller and using the singularity-free function, which avoids the singularity problem and obtains fixed-time stability. Meanwhile, the self-triggered mechanism reduces the communication resources between the actuator and the controller, improving the system's transmission efficiency. Through the above thoughts, a kind of fixed-time fuzzy adaptive controller based on the self-triggered mechanism is designed, which guarantees that the tracking error of each joint converges to the prescribed range within a fixed time. Finally, the effectiveness of the proposed algorithm is verified by a simulation example of the two-link robotic manipulator.

The lensing effect of quantum-corrected black hole and parameter constraints from EHT observations

The quantum-corrected black hole model demonstrates significant potential in the study of gravitational lensing effects. By incorporating quantum effects, this model addresses the singularity problem in classical black holes. In this paper, we investigate the impact of the quantum correction parameter on the lensing effect based on the quantum-corrected black hole model. Using the black holes M87∗\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$M87^*$$\\end{document} and SgrA∗\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$Sgr A^*$$\\end{document} as our subjects, we explore the influence of the quantum correction parameter on angular position, Einstein ring, and time delay. Additionally, we use data from the Event Horizon Telescope observations of black hole shadows to constrain the quantum correction parameter. Our results indicate that the quantum correction parameter significantly affects the lensing coefficients a¯\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\bar{a}$$\\end{document} and b¯\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\bar{b}$$\\end{document}, as well as the Einstein ring. The position θ∞\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\ heta _{\\infty }$$\\end{document} and brightness ratio S of the relativistic image exhibit significant changes,with deviations on the order of magnitude of ∼1μas\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\sim 1\\,\\upmu \\! \ extrm{as}$$\\end{document} and ∼0.01μas\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\sim 0.01\\,\\upmu \\! \ extrm{as}$$\\end{document}, respectively. The impact of the quantum correction parameter on the time delay ΔT21\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\Delta T_{21}$$\\end{document} is particularly significant in the M87∗\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$M87^*$$\\end{document} black hole, with deviations reaching up to several tens of hours. Using observational data from the Event Horizon Telescope(EHT) of black hole shadows to constrain the quantum correction parameter, the constraint range under the M87∗\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$M87^*$$\\end{document} black hole is 0≤αM2≤1.4087\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$0\\le \\frac{\\alpha }{M^2}\\le 1.4087$$\\end{document} and the constraint range under the SgrA∗\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$Sgr A^*$$\\end{document} black hole is 0.9713≤αM2≤1.6715\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$0.9713\\le \\frac{\\alpha }{M^2}\\le 1.6715$$\\end{document}. Although the current resolution of the EHT limits the observation of subtle differences, future high-resolution telescopes are expected to further distinguish between the quantum-corrected black hole and the Schwarzschild black hole, providing new avenues for exploring quantum gravitational effects.

A new spline method on graded mesh for fourth-order time-dependent PDEs: application to Kuramoto-Sivashinsky and extended Fisher-Kolmogorov equations

In this research, we introduce a two-tier non-polynomial spline approach with graded mesh discretization for addressing fourth-order time-dependent partial differential equations, which find applications in various physical scenarios like the nonlinear Kuramoto-Sivashinsky equation and extended Fisher-Kolmogorov equation. Our method involves considering three spatial points at each time step for scheme development, achieving spatial accuracy of three and temporal accuracy of two. Notably, our approach offers the advantage of directly tackling singular biharmonic problems without the need for discretizing boundary conditions or incorporating fictitious points. It demonstrates unconditional stability when tested on fourth-order problems and outperforms previous methods, as evidenced by comparative analyses. Additionally, we present 2D and 3D plots illustrating numerical solutions for different benchmark scenarios, including the depiction of the chaotic nature of the Kuramoto-Sivashinsky equation under Gaussian initial conditions at various time levels.

Adaptive finite time command filtered backstepping control scheme of uncertain strict-feedback nonlinear systems

This paper proposes an adaptive finite time command filtered backstepping control scheme for single‐input and single‐output (SISO) uncertain strict-feedback nonlinear systems. The problem of the explosion of complexity existing in the adaptive backstepping control design and the singularity problem are solved by using the proposed adaptive finite time control method. In addition, the compensating signals are introduced to deal with the effect of the known filtering errors caused by the command filters. By using the finite time Lyapunov stability theory, the proposed adaptive finite time control strategy guarantees that all the signals in the closed-loop system are practical finite time stable, and the tracking errors converge to an arbitrarily small neighbourhood of the origin in finite time. Simulation and experimental results of the DC-DC buck converter are given to illustrate the effectiveness of the proposed adaptive finite time control scheme.

Fixed-time attitude control for hypersonic morphing vehicles: A dynamic memory event-triggering approach

This paper focuses on achieving fast attitude tracking and resource preservation for hypersonic morphing vehicles (HMVs) in continuous morphing stages. Firstly, the most remarkable feature of an HMV are the morphing wings, leading to dramatic aerodynamic property changes. As a result, fast tracking and excellent adaptation to various morphing statuses are necessary to guarantee the success of flight missions. Thus, this work employs the fixed-time stability theory to establish a high-performance controller, including variable exponent coefficients. Compared to the traditional constant exponent coefficient-based methods, some singularity problems are avoided, and the global fixed-time stability is ensured. Then, in order to implement the control input in a low-resource occupation, the dynamic event-triggering mechanism is presented to provide a flexible updating policy. The proposed event-triggering technology has a more concise and efficient structure than the traditional methods. In this case, the controller and the dynamic variable of the event-triggering method simultaneously adopt the exponent coefficients. Finally, the closed-loop stability is proven via the Lyapunov thesis, and simulation results show the effectiveness and the advantage of the proposed control strategy.

Efficient finite element strategy using enhanced high-order and second-derivative-free variants of Newton's method

In this work, we propose a stable finite element approximation by extending higher-order Newton's method to the multidimensional case for solving nonlinear systems of partial differential equations. This approach relies solely on the evaluation of Jacobian matrices and residuals, eliminating the need for computing higher-order derivatives. Achieving third and fifth-order convergence, it ensures stability and allows for significantly larger time steps compared to explicit methods. We thoroughly address accuracy and convergence, focusing on the singular p-Laplacian problem and the time-dependent lid-driven cavity benchmark. A globalized variant incorporating a continuation technique is employed to effectively handle high Reynolds number regimes. Through two-dimensional and three-dimensional numerical experiments, we demonstrate that the improved cubically convergent variant outperforms others, leading to substantial computational savings, notably halving the computational cost for the lid-driven cavity test at large Reynolds numbers.

An Optimal Multibarrier Strategy for a Singular Stochastic Control Problem with a State-Dependent Reward

We consider a singular control problem that aims to maximize the expected cumulative rewards, where the instantaneous returns depend on the state of a controlled process. The contributions of this paper are twofold. Firstly, to establish sufficient conditions for determining the optimality of the one-barrier strategy when the uncontrolled process X follows a spectrally negative Lévy process with a Lévy measure defined by a completely monotone density. Secondly, to verify the optimality of the (2n+1)\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$(2n+1)$$\\end{document}-barrier strategy when X is a Brownian motion with a drift. Additionally, we provide an algorithm to compute the barrier values in the latter case.

Singular double phase problems with convection

We consider a Dirichlet problem driven by the double phase differential operator and a parametric reaction which has the combined effects of a singular term and of a convective perturbation. Using nonlinear operators of monotone type, truncation and comparison techniques, and fixed point theory, we show that for all small values of the parameter, the problem has a bounded positive solution.

Estimation-based event-triggered fixed-time fuzzy tracking control for high-order nonlinear systems

This paper investigates adaptive-estimation-based dynamic event-triggered fuzzy tracking control scheme for high-order nonlinear systems in fixed-time interval. The growing assumptions of coexistence unknown nonlinear uncertainties are removed with the aid of fuzzy logic systems. Contrary to the existing results, an adaptive estimation tactic is formulated to estimate the severe coexistence uncertainties online such that no boundaries are needed for the adaptive parameters, despite approximation errors, unknown virtual control gains and time-varying disturbances. On this estimation mechanism, the virtual control gains have been relaxed to unknown, which is more applicable. In view of controller and actuator, the communication burden is reduced with the aid of dynamic event-triggered rule, and Zeno behavior can be prevented successfully during dynamic sampling and updating of the control signal. Moreover, the singularity problem has been conquered by using the inequality transformation technique and all signals are bounded in fixed-time interval. Finally, two examples are used to verify the feasibility and rationality.

Command-filtered incremental backstepping attitude control of spacecraft with predefined-time stability

This paper investigates the predefined-time attitude tracking control problem within the theoretical framework of incremental dynamic inversion. The utilization of the Taylor series facilitates the transformation of the attitude control system into a discrete-time plant, with the control input expressed in an incremental form. Additionally, a novel predefined-time stable dynamics system is presented and incorporated into the disturbance observer designing process, serving the purpose of estimating lumped disturbance. It is also employed in a command filter design to approximate the derivatives of the virtual control law within a predefined time. Consequently, an incremental backstepping attitude tracking control scheme is further developed, integrating the proposed predefined-time disturbance observer to ensure the system's robustness and the predefined-time filter to address challenges related to “term explosion” and singularity problem. Rigorous Lyapunov analysis affirms that the attitude control system, when using the incremental backstepping controller, remains predefined-time stable. The effectiveness of the proposed control scheme is subsequently validated through numerical simulations.

Waiting for inflation: A new initial state for the Universe

We propose a cosmological lingering phase for the initial state prior to inflation which would help address the singularity problem of inflation. The Universe begins with a constant (Hagedorn) temperature and then transitions into an inflationary universe while preserving the null energy condition (NEC). We first consider the phase space of positive spatial curvature models within general relativity and with matter sources that respect the NEC. Depending on the duration of the postlingering inflation, these models can produce a small amount of observable spatial curvature in the cosmic microwave background. We also discuss how lingering can arise with or without spatial curvature in theories of quantum gravity when considering the thermodynamic scaling of particles and its impact on the early Universe. The string theory dilaton is essential to the dynamics. There are many open questions that remain. Published by the American Physical Society 2024

Inverse-Kinematics Steering Laws for Double-Gimbal Scissored-Pair Control Moment Gyros

The generalized singularity robust inverse steering law (GSRISL) is widely used to avoid singularity problems in control moment gyroscopes (CMGs). However, GSRISL tends to generate perturbation torques near singularities, which hinder highly accurate attitude tracking control. Model predictive steering control can eliminate the necessity of considering singularities, but its implementation in satellites remains challenging because of its high computational cost. Therefore, the development of a steering law that avoids explicit consideration of internal singularities and costly calculations is critical. The inverse-kinematics steering law (IKSL) is one such law removing the need for the calculation of the inverse matrix. The double-gimbal scissored-pair CMG (DGSPCMG) addresses the singularity problem as it does not have internal singularities except along the outer gimbal axis. To enhance the attitude control by removing the need for the calculation of the inverse matrix, this study proposes the combining of IKSL with DGSPCMG. Additionally, to mitigate the risk of gimbal mechanical failure, the IKSL for inner or outer gimbal axes failure was designed by relaxing the identical steering constraint of the scissored-pair gimbal angles. Numerical simulations were performed to evaluate the effectiveness of the combination of IKSL and DGSPCMG in terms of settling time and maneuvering axis accuracy.

A parameter-uniform hybrid method for singularly perturbed parabolic 2D convection-diffusion-reaction problems

The solution of the singular perturbation problems (SPP) of convection-diffusion-reaction type may exhibit regular and corner layers in a rectangular domain. In this work, we construct and analyze a parameter-uniform operator-splitting alternating direction implicit (ADI) scheme to efficiently solve a two-dimensional parabolic singularly perturbed problem with two positive parameters. The proposed model is a combination of the backward-Euler method defined on a uniform mesh in time and a hybrid method in space defined on a special Shishkin mesh. The analysis is presented on a layer adapted piecewise-uniform Shishkin mesh. The developed numerical method is proved to be first-order convergent in time and almost second-order convergent in space. The numerical experiments are performed to validate the theoretical convergence results and illustrate the efficiency of the current strategy.

SDO-Based Command Filtered Adaptive Neural Tracking Control for MIMO Nonlinear Systems With Time-Varying Constraints.

In this article, an adaptive neural tracking control based on saturation disturbance observer (SDO) and command filter is studied for multiple-input-multiple-output nonlinear systems with time-varying constraints and system uncertainties. By employing neural networks (NNs), the system uncertainties are approximated. The SDO is proposed to estimate the composited disturbances which consist of NN approximation errors and the external bounded disturbances. Compared with the traditional disturbance observer, the SDO can reduce the estimation error to some extent. The control requirements are achieved based on the multiconstraints which contain three layers: 1) prescribed performance functions (PPFs); 2) actual constraints; and 3) virtual constraints. The errors remain within the prescribed small neighborhood of zero by using the PPFs, the error constraints ensure that the time-varying constraints are never violated even if the PPFs are not available, and the virtual constraints are applied in a new time-varying barrier Lyapunov function (TVBLF) to design virtual controllers and controller to solve the singularity problem of the traditional TVBLF. In addition, the command filter is introduced to solve the problem of "explosion of complexity." Finally, a numerical simulation verifies the effectiveness of the proposed scheme for a flight control of unmanned aerial vehicle.

An efficient recursive technique with Padé approximation for a kind of Lane–Emden type equations emerging in various physical phenomena

The study numerically examined a class of nonlinear singular differential problems known as the Lane–Emden differential equation, which emerges in numerous real-world situations. The primary goal of this work is to formulate a computationally efficient iterative technique for solving the nonlinear Lane–Emden initial value problems. The proposed approach is a hybrid of the homotopy perturbation method and the Padé approximation. The nonlinear singular Lane–Emden initial value problem (SLEIVP) is transformed into an equivalent recursive integral employing the Picard’s approach. To resolve the singularity and nonlinearity, the recursive integral equation is transformed into a system of integral equations by using the homotopy notion. Furthermore, to enhance the convergence rate of the technique, Padé approximation is taken into account. The convergence analysis for the proposed approach is also conducted. The present technique is tested on SLEIVPs and numerical findings are compared with the existing techniques, to demonstrate the accuracy, effectiveness and ease of use.

ANN based optimization of nano-beam oscillations with intermolecular forces and geometric nonlinearity

In this study, we investigate the effect of Van der Waals and Casimir forces on the mathematical model of nano-electromechanical systems (NEMS) such as nano-beam actuators that contain cantilever and double cantilever beams. The singular nonlinear boundary value problem governing the beam-type actuators, including geometric nonlinearity is solved by using an intelligent strength of feedforward artificial neural networks (ANNs) and hybridization of optimization algorithms such as arithmetic optimization algorithm (AOA) and active set algorithm (ASA). The proposed ANN-AOA-AS algorithm is employed to quantify the effect of changes in applied voltage, dispersion forces, geometric nonlinearity parameters, and initial axial strain on the deflection of the beam. Furthermore, to validate the results obtained by the proposed algorithm, statistical analyses are conducted to compare the approximate solutions with state-of-the-art methodologies available in the latest literature. In addition, performance indicators are defined such as mean square error (MSE), Nash–Sutcliffe efficiency (NSE), mean absolute deviations (MAD), root mean square error (RMSE), and Error in Nash–Sutcliffe efficiency (ENSE) to study the accuracy and efficiency of the solutions. The results show that these indicators’ mean percentage values lie around 10−4 to 10−6 which reflects the perfect modeling of the approximate solutions.

A Gradient Dynamics-Based Singularity Avoidance Method for Backstepping Control of Underactuated TORA Systems.

In this paper, a gradient dynamics-based control method is proposed to directly tackle the singularity problem in the backstepping control design of the TORA system. This method is founded upon the construction of an energy-like positive function, which includes an auxiliary variable in terms of the intermediate virtual control law. On this basis, a gradient dynamics is created to obtain a new virtual control command, which is capable of making the auxiliary variable gradually approach zero, thereby mitigating the issue of division by zero. The core innovation is the integration of the gradient dynamics into the recursive backstepping design to overcome the singularity problem and stabilize the system at the equilibrium quickly. In addition, it rigorously proves that all the signals in the closed-loop control system are uniformly ultimately bounded, and the tracking errors converge to a small neighborhood around zero through a Lyapunov-based stability analysis. Comparative simulations demonstrate that the proposed approach not only avoids the singularity issue, but also achieves a better transient performance over other methods.

Early universe in quantum gravity

We present a new picture of the early universe in finite nonlocal quantum gravity, which is Weyl invariant at the classical and quantum levels. The high-energy regime of the theory consists of two phases, a Weyl invariant trans-Planckian phase and a post-Planckian or Higgs phase described by an action quadratic in the Ricci tensor and where the cosmos evolves according to the standard radiation-dominated model. In the first phase, all the issues of the hot big bang such as the singularity, flatness, and horizon problems find a universal and simple non-inflationary solution by means of Weyl invariance, regardless of the microscopic details of the theory. In the second phase, once Weyl symmetry is spontaneously broken, primordial perturbations are generated around a background that asymptotically evolves as a radiation-dominated flat Friedmann-Lemaître-Robertson-Walker universe.

Tuning triplet excitons and dynamic afterglow based on host-guest doping

Designing persistent dual-band afterglow materials with thermally activated delayed fluorescence (TADF) and room temperature phosphorescence (RTP) contributed to solving the problems of homogenization and singularity in long afterglow materials. Here, six aryl acetonitrile (CBM) and aryl dicyanoaniline (AMBT) derivatives, used as host and guest materials respectively, were successfully designed and synthesized based on the isomerization effect. Among of them, 0.1 % m-CBM/p-AMBT showed the longest dual-band TADF (540 ms) and RTP lifetimes (721 ms), as well as persistent afterglow over 8 s, whose fluorescence (ΦFL), TADF (ΦT) and RTP (ΦP) quantum yields were 0.11, 0.06 and 0.22 in sequence. More interestingly, some doping systems constructed by CBM and AMBT series compounds showed persistent triple-band emissions composed of TADF, unimolecular and aggregated AMBT series compounds. What’s more, ΦFL, ΦT and ΦP of 1 % o-AMBT@PMMA film were up to 0.17, 0.17, 0.23 in turn, with TADF, RTP and afterglow lifetimes of 606 ms, 727 ms, and 10 s respectively. TADF and RTP emission of CBM/AMBT series doping systems was attributed to host sensitized guest emission. Besides, the comparison displayed AMBT series compounds had bigger intensity ratios between TADF and RTP emission in PMMA films compared to in CBM series compounds. Finally, a series of data encryption were successfully constructed based on different afterglow lifetimes of the doping systems, and a dynamic anti-counterfeiting pattern was prepared by using different temperature responses of TADF and RTP emissions.

Improving large angle flow measurement accuracy of five-hole probe using novel calibration coefficient and accuracy progressive neural network

Novel calibration coefficients and data-fitting techniques based on a two-stage accuracy progressive neural network were developed to improve the accuracy of a five-hole probe in measuring large-angle flows. By modifying the denominator and numerator of traditional calibration coefficients, the novel coefficients can solve the singularity and multi-value problems of large-angle flow measurement. By training the neural network using both global calibration data and the calibration data of large measurement error points, the two-stage accuracy progressive neural network can effectively improve the measurement accuracy of a five-hole probe when flow separation occurs around the probe head at large flow angles. The experimental results demonstrate that applying the novel calibration coefficients and accuracy progressive neural network ensures that the calibration error of the flow angle is less than 0.8°, and the flow pressure error is less than 0.1 % when the flow angle reaches 50° at low subsonic speeds.