{μ-6,6′-Dimeth­oxy-2,2′-[propane-1,3-diylbis(nitrilo­methyl­idyne)]diphenolato}trinitratocopper(II)europium(III)

In the title complex, [CuEu(C19H20N2O4)(NO3)3], the CuII ion is four-coordinated in a square-planar geometry by two O atoms and two N atoms of the deprotonated Schiff base. The EuIII atom is ten-coordinate, chelated by three nitrate groups and linked to the four O atoms of the deprotonated Schiff base

A second ortho­rhom­bic polymorph of 2-(pyridin-4-ylmeth­oxy)phenol

The crystal structure of the title compound, C12H11NO2, represents a new ortho­rhom­bic polymorph II of the previously reported ortho­rhom­bic form I [Zhang et al. (2009 ▶) Acta Cryst. E65, o3160]. In polymorph II, the six-membered rings form a dihedral angle of 13.8 (1)° [71.6 (1)° in I], and O—H⋯N hydrogen bonds link mol­ecules into chains along [100], whereas the crystal structure of I features hydrogen-bonded centrosymmetric dimers

{μ-6,6′-Dimeth­oxy-2,2′-[propane-1,3-diyl­bis(nitrilo­methyl­idyne)]­diphenolato}­trinitratocopper(II)samarium(III) acetone solvate

In the title complex, [CuSm(C19H20N2O4)(NO3)3]·CH3CO-CH3, the CuII atom is four-coordinated in a square-planar geometry by two O atoms and two N atoms of the deprotonated Schiff base. The SmIII atom is ten-coordinate, chelated by three nitrate groups and linked to the four O atoms of the deprotonated Schiff base

catena-Poly[[bis­(nitrato-κ2 O,O′)cobalt(II)]-μ-4,4′-bis­(pyrazol-1-ylmeth­yl)biphenyl-κ2 N 2:N 2′]

In the title compound, [Co(NO3)2(C20H18N4)]n, the CoII atom lies on a crystallographic twofold axis and the coordination geometry can be considered as a slightly distorted tetra­hedron defined by two O atoms from two nitrate groups and two N atoms from two ligand mol­ecules. A distorted octa­hedron may be assumed when two of the symmetry-related nitrate O atoms with Co—O distances of 2.3449 (19) Å are added to the coordination environment. Another twofold axis, passing through the middle of the biphenyl bonds, is observed in the crystal structure. A chain is built up by the ligands linking the CoII ions along [101]

Containment Control of Multi-Agent Systems with Dynamic Leaders Based on a PInPI^n-Type Approach

This paper studies the containment control problem of multi-agent systems with multiple dynamic leaders in both the discrete-time domain and the continuous-time domain. The leaders' motions are described by $(n-1)$-order polynomial trajectories. This setting makes practical sense because given some critical points, the leaders' trajectories are usually planned by the polynomial interpolations. In order to drive all followers into the convex hull spanned by the leaders, a $PI^n$-type ($P$ and $I$ are short for {\it Proportion} and {\it Integration}, respectively; $I^n$ implies that the algorithm includes high-order integral terms) containment algorithm is proposed. It is theoretically proved that the $PI^n$-type containment algorithm is able to solve the containment problem of multi-agent systems where the followers are described by any order integral dynamics. Compared with the previous results on the multi-agent systems with dynamic leaders, the distinguished features of this paper are that: (1) the containment problem is studied not only in the continuous-time domain but also in the discrete-time domain while most existing results only work in the continuous-time domain; (2) to deal with the leaders with the $(n-1)$-order polynomial trajectories, existing results require the follower's dynamics to be $n$-order integral while the followers considered in this paper can be described by any-order integral; and (3) the "sign" function is not employed in the proposed algorithm, which avoids the chattering phenomenon. Furthermore, in order to illustrate the practical value of the proposed approach, an application, the containment control of multiple mobile robots is studied. Finally, two simulation examples are given to demonstrate the effectiveness of the proposed algorithm

(E)-3-(9-Anthr­yl)-1-(4-fluoro­phen­yl)-2-(4-nitro-1H-imidazol-1-yl)prop-2-en-1-one

In the title compound, C26H16FN3O3, the dihedral angle between the anthryl and fluoro­phenyl groups is 37.8 (1)°. With respect to the imidazolyl group, the twist angles between the imidazolyl group and the anthryl unit and between the imidazoly group and the fluoro­phenyl group are 64.4 (1) and 74.5 (1)°, respectively