Show PDF File - robotics - Universidad de Zaragoza
Show PDF File - robotics - Universidad de Zaragoza
Show PDF File - robotics - Universidad de Zaragoza
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
ρ(J) = λeff(W) <br />
<br />
||ecen(t)||2 ≤ λ t eff(W)||ecen(0)||2 + 2p(n − 1)σJλ t−1<br />
eff (W)t, <br />
ρ(J) = λeff(W) <br />
||ecen(t)||2 ≤ λ t eff(W)||ecen(0)||2 +<br />
2p(n − 1)σJ<br />
ρ(J) − λeff(W) (ρt (J) − λ t eff(W)). <br />
λeff(W) < 1 G λt eff (W)||ecen(0)||2 <br />
t → ∞ <br />
ecen(0) ρ(J) = λeff(W) λt eff (W)t <br />
t ≥ λeff(W)<br />
1−λeff(W) t → ∞ ρ(J) = λeff(W) <br />
(ρ t (J) − λ t eff (W)) λeff(W) <br />
ρ(J) < 1 limt→∞ ||ecen(t)||2 = 0 <br />
||ecen(t)||2 = 0 ecen(t) = 0 <br />
Z p n M p n <br />
<br />
<br />
A = [Aij] A ∈ R np×np Aij p × p<br />
i, j ∈ {1, . . . , n}<br />
A Zp n Aij i, j ∈ {1, . . . , n}<br />
Aij 0 i, j ∈ {1, . . . , n}, j = i. ˆ Zp n A ∈ Zp n <br />
Aii ≻ 0 i ∈ {1, . . . , n} A M p n A ∈ ˆ Zp n <br />
u1, . . . , un > 0 <br />
n<br />
ujAij ≻ 0 for all i ∈ {1, . . . , n}.<br />
j=1<br />
A ∈ Zp n ∀J ⊂ {1, . . . , n} <br />
i ∈ J <br />
j∈J Aij <br />
≻ 0 π <br />
j≥i Aπ(i),π(j) ≻ 0 i ∈ {1, . . . , n}<br />
A ∈ Zp n u1, . . . , un > 0 <br />
n<br />
Aijuj 0, for all i ∈ {1, . . . , n}. <br />
j=1<br />
π {1, . . . , n} <br />
<br />
Aπ(i),π(j)uπj ≻ 0, for all i ∈ {1, . . . , n}. <br />
A ∈ M p n<br />
j≥i