收敛

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

In this paper, we study the rate of convergence of Durrmeyer-Bézier Operaters for functions of bounded variation f and obtain a accurate estimation of coefficient. Our result improves the result of Zeng by making use of probable property of basic functions.

在Zeng等人对有界变差函数f的Durrmeyer-Bézier算子在区间(0，1)上收敛于 1/(a+1f+a/(a+1f 的收敛阶进行研究的基础上，利用基函数的概率性质等方法，对其所给的Durrmeyer-Bézier算子收敛阶估计结果作进一步的改进，得到其收敛阶的精确估计。

Our results show that not only the club convergence has been obviously exhibited, that is, the output per capita congregates within the east, middle and west districts respectively; but also the conditional convergence has been identified, that is, given the same level of human capital, market ope...

本文认为中国地区间的经济增长，不仅存在着显著的"俱乐部收敛"特征，即按东中西划分的区域内部人均产出具有明显的聚集现象；而且存在着条件收敛的特征，即在具有相同的人力资本、市场开放度等结构特征的经济地区间存在着一定的增长收敛趋势。本文实证分析的结果还显示，各地区间工业化水平的差异和产业结构的变动对增长收敛性构成显著的影响。

Furthermore, the first-order optimality condition and its equivalent reformulations for generalized semi-infinite max-min programming with a non-compact set are presented using the lower-Hadamard directional derivative and subdifferential.2. Chapter 3 studies the gradient-type methods for unconstrained optimization problems. Section 1 proposes a new class of three-term memory gradient methods. The global convergence property of the method is established. Furthermore, in order to improve the convergence property of the method, a new class of memory gradient projection methods is presented with the property that the whole sequence of iterates converges to a solution to the problem under the conditions such as pseudo-convexity and continuous differentiability of objective function. In section 2, two new classes of methods, called gradient-type method with perturbations and hybrid projection method with perturbations, are proposed. In these methods, non-monotone line search technique is employed, which makes them easily executed in computer.

第3章研究了无约束优化问题的梯度型算法，第1节提出了一类新的三项记忆梯度算法，讨论了算法的全局收敛性，进一步提出了一类新的具有更好收敛性质的记忆梯度投影算法，并证明了该算法在函数伪凸的情况下具有整体收敛性，第2节在非单调步长搜索下提出了带扰动项的梯度型算法及其混合投影算法，这两类算法的一个重要特征就是步长采用线搜索确定而不象许多文献中那样要求步长趋于零，这样更容易在计算机上实现，在较弱的条件下证明了这些算法的全局收敛性，数值算例表明了算法的有效性。

Convergence, statistical convergence in probability, and statistical convergence in distribution respect to a.s.

收敛，依概率收敛，依分布收敛相对应的统计收敛的定义，给出了统计a.s。

Invariant theorem of the operator series multiplier convergent. Using operator series multiplier convergent,AK-space of concept ,we obtained the theorem of operator series multiplier convergent invariant and the old theorem of general series multiplier convergent invariant is looked as special case.

第三章 算子级数乘数收敛的不变性：利用算子级数乘数收敛、AK—空间的定义，得到了算子级数乘数收敛的不变性定理，从而将以往的普通级数乘数收敛的不变性定理作为特殊情况。

Stochastic theory and other correlative theories are used to analyze IGA, and the immune extend population sequence formed by IGA is proved to be an aperiodic irreducible ergodic Markov chain.

同时在纯数学意义上拓展讨论，就IGA的一般收敛理论进行分析，证明了概率弱收敛、几乎处处弱收敛、渐进收敛等性质。

At the beginning of this paper, we briefly introduced the fundamental knowledge of the Newton iterative methods , and the local convergence theorem which extended the classical Newton method, because of the local convergence, the theorem had its certain restrict. Large-scale convergence theorem was proved under the condition that matrix M is irreducible diagonally dominant by Newton's method with line search.At the last part of this paper, we present the method for solving linear complementarity problems arising from journal bearings.

本文首先介绍了Newton型迭代法的基础知识，然后着重介绍了B-可微方程的Newton法，给出B-可微法的局部收敛结论，推广了古典的Newton法，但由于收敛的局部性，该算法仍有一定的不足之处；文章在证明大范围收敛定理时，假设M是不可约对角优势矩阵，采用一维Newton寻查的方法，保证算法的收敛性。

Type IB: Isocline is convergent towards inner arc at a right angle to the fold.

根据等斜线的收敛层度，再细分为三个亚型：IA型：等弧线向内弧强烈收敛，各线长短判别极大，内弧曲率远大于外弧曲率，为典型的顶薄褶皱；IB型：等倾斜线向内弧收敛，并与褶皱面垂直，各线长短大致相等，褶皱层真厚度不变，内弧曲率仍大于外弧曲率，为典型的平行褶皱；IC型：等斜线相内弧轻微收敛，转折端等倾斜线比两翼附近的要略长一些，反应两翼厚度有变薄的趋势，内弧曲率略大于外弧曲率。

Classical limit theory includes the central limit theory, the law of large numbers, and the law of iterated logarithm etc.

经典的极限理论包括中心极限定理，大数律，重对数律等等，相对于收敛性来讲，就是依分布收敛，依概率收敛，和几乎必然收敛等等。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。