02-seriesexp
DESCRIPTION
Series expansion of Jacobian function for computation of conjugate locus and upper bound on conjugate time in geometric controlTRANSCRIPT
Bounds for Roots of Functions fv0 and fz0
April 29, 2016
Series expansion of Jacobian is given as:
J =16
3k3u21[−12(−3 + 6u21 + 2u41) + (−36 + 33u41 − 8u61) cos(2u2)
+ cos(4u1)(−12(−1 + u21
)−
(12− 24u21 + u41) cos(2u2)
)−
−2u1(21− 68u21 + 18u41 + 10(−3 + 2u21) cos(2u2)
)sin(2u1)
+4 cos(2u1)(−12 + 21u21 − 24u41 + 2u61
+cos(2u2)(12− 6u21 + 4u41 + u1(−15 + 4u21) sin(2u1)
))
+u1(21− 2u21) sin(4u1)] +O(k3). (1)
where u1 = am(p, k) and u2 = am(τ, k).Similary series expansion of the functions fz(p, k) and fv(p, k) in variables u1and u2 can be written as:
fz0(u1, k) = −u1 cosu1 + sinu1, (2)
fv0(u1, k) = 4u21 cosu1 − 4u1 sinu1 +4
3u31 sinu1. (3)
It turns out that (1) in terms of fz0 and fv0 can be written as:
J = 1(u1)fz0(u1, k), u2 =π
2,
J = 2(u1)fv0(u1, k), u2 = 0,
where1(u1) = −2u1(27−85u21+8u41) cos(u1)−2u1(−27+u21) cos(3u1)+4u21(−45+14u21+9 cos(2u1)) sin(u1)+192 sin3(u1) and 2(u1) =
32 (−3(1 + 4u21) cos(u1) + 3 cos(3u1) + 2u1(11− 4u21 + cos(2u1) sin(u1)).
Lemma 1. The first root of the function fz0(u1) lies in the interval u1 ∈(π, 3π2
).
Proof. Clearly, function fz0(u1) is continuous with its derivative given as f ′z0(u1) = u1 sinu1and f ′z0(u1) >0, u1 ∈ (0, π) where function is increasing and f ′z0(u1) < 0, u1 ∈ (π, 2π) where function is decreasing.Also,
fz0(0) = 0,
fz0 (π) = π,
fz0
(3π
2
)= −1.
Now by intermediate function theorem, fz0(u1) = 0 for some u1 ∈(π, 3π2
).
Lemma 2. The first root of the function fv0(u1) lies in the interval u1 ∈(3π2 , 2π
).
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Proof. Consider the function gv0(u1) which has same roots as fv0(u1) and has following properties:
gv0(u1) =fv0(u1)
sin(u1)=
4
3u1
(−3 + u21 + 3u1 cotu1
),
limu1→0
gz0(u1) = 0,
g′z0(u1) = −4 (−1 + u1 cot(u1))2< 0,
The function gv0(u1) has vertical asymptotes at u1 = ±nπ, n ∈ N such that:
limu1→0+
gv0(u1) = 0,
limu1→π−
gv0(u1) = −∞,
limu1→π+
gv0(u1) = +∞,
limu1→2π−
gv0(u1) = −∞.
Hence, the function gv0(u1) and therefore fv0(u1) has its first positive root in the interval u1 ∈ (π, 2π). Also,fv0
(3π2
)< 0 and fz0 (2π) > 0 and therefore by intermediate value theorem the function fv0(u) has root in
the interval u1 ∈(3π2 , 2π
).
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