91,931 research outputs found
Fast generation of stability charts for time-delay systems using continuation of characteristic roots
Many dynamic processes involve time delays, thus their dynamics are governed
by delay differential equations (DDEs). Studying the stability of dynamic
systems is critical, but analyzing the stability of time-delay systems is
challenging because DDEs are infinite-dimensional. We propose a new approach to
quickly generate stability charts for DDEs using continuation of characteristic
roots (CCR). In our CCR method, the roots of the characteristic equation of a
DDE are written as implicit functions of the parameters of interest, and the
continuation equations are derived in the form of ordinary differential
equations (ODEs). Numerical continuation is then employed to determine the
characteristic roots at all points in a parametric space; the stability of the
original DDE can then be easily determined. A key advantage of the proposed
method is that a system of linearly independent ODEs is solved rather than the
typical strategy of solving a large eigenvalue problem at each grid point in
the domain. Thus, the CCR method significantly reduces the computational effort
required to determine the stability of DDEs. As we demonstrate with several
examples, the CCR method generates highly accurate stability charts, and does
so up to 10 times faster than the Galerkin approximation method.Comment: 12 pages, 6 figure
The semiclassical relation between open trajectories and periodic orbits for the Wigner time delay
The Wigner time delay of a classically chaotic quantum system can be
expressed semiclassically either in terms of pairs of scattering trajectories
that enter and leave the system or in terms of the periodic orbits trapped
inside the system. We show how these two pictures are related on the
semiclassical level. We start from the semiclassical formula with the
scattering trajectories and derive from it all terms in the periodic orbit
formula for the time delay. The main ingredient in this calculation is a new
type of correlation between scattering trajectories which is due to
trajectories that approach the trapped periodic orbits closely. The equivalence
between the two pictures is also demonstrated by considering correlation
functions of the time delay. A corresponding calculation for the conductance
gives no periodic orbit contributions in leading order.Comment: 21 pages, 5 figure
PID and PID-like controller design by pole assignment within D-stable regions
This paper presents a new PID and PID-like controller design method that permits the designer to control the desired dynamic performance of a closed-loop system by first specifying a set of desired D-stable regions in the complex plane and then running a numerical optimisation algorithm to find the controller parameters such that all the roots of the closed-loop system are within the specified regions. This method can be used for stable and unstable plants with high order degree, for plants with time delay, for controller with more than three design parameters, and for various controller configurations. It also allows a unified treatment of the controller design for both continuous and discrete systems. Examples and comparative simulation results are pro-vided to illustrate its merit
Capturing pattern bi-stability dynamics in delay-coupled swarms
Swarms of large numbers of agents appear in many biological and engineering
fields. Dynamic bi-stability of co-existing spatio-temporal patterns has been
observed in many models of large population swarms. However, many reduced
models for analysis, such as mean-field (MF), do not capture the bifurcation
structure of bi-stable behavior. Here, we develop a new model for the dynamics
of a large population swarm with delayed coupling. The additional physics
predicts how individual particle dynamics affects the motion of the entire
swarm. Specifically, (1) we correct the center of mass propulsion physics
accounting for the particles velocity distribution; (2) we show that the model
we develop is able to capture the pattern bi-stability displayed by the full
swarm model.Comment: 6 pages 4 figure
Asymptotic properties of the spectrum of neutral delay differential equations
Spectral properties and transition to instability in neutral delay
differential equations are investigated in the limit of large delay. An
approximation of the upper boundary of stability is found and compared to an
analytically derived exact stability boundary. The approximate and exact
stability borders agree quite well for the large time delay, and the inclusion
of a time-delayed velocity feedback improves this agreement for small delays.
Theoretical results are complemented by a numerically computed spectrum of the
corresponding characteristic equations.Comment: 14 pages, 6 figure
Analytical and experimental stability investigation of a hardware-in-the-loop satellite docking simulator
The European Proximity Operation Simulator (EPOS) of the DLR-German Aerospace
Center is a robotics-based simulator that aims at validating and verifying a
satellite docking phase. The generic concept features a robotics tracking
system working in closed loop with a force/torque feedback signal. Inherent
delays in the tracking system combined with typical high stiffness at contact
challenge the stability of the closed-loop system. The proposed concept of
operations is hybrid: the feedback signal is a superposition of a measured
value and of a virtual value that can be tuned in order to guarantee a desired
behavior. This paper is concerned with an analytical study of the system's
closed-loop stability, and with an experimental validation of the hybrid
concept of operations in one dimension (1D). The robotics simulator is modeled
as a second-order loop-delay system and closed-form expressions for the
critical delay and associated frequency are derived as a function of the
satellites' mass and the contact dynamics stiffness and damping parameters. A
numerical illustration sheds light on the impact of the parameters on the
stability regions. A first-order Pade approximation provides additional means
of stability investigation. Experiments were performed and tests results are
described for varying values of the mass and the damping coefficients. The
empirical determination of instability is based on the coefficient of
restitution and on the observed energy. There is a very good agreement between
the critical damping values predicted by the analysis and observed during the
tests...Comment: 16 page
Time-delayed feedback control of unstable periodic orbits near a subcritical Hopf bifurcation
We show that Pyragas delayed feedback control can stabilize an unstable
periodic orbit (UPO) that arises from a generic subcritical Hopf bifurcation of
a stable equilibrium in an n-dimensional dynamical system. This extends results
of Fiedler et al. [PRL 98, 114101 (2007)], who demonstrated that such feedback
control can stabilize the UPO associated with a two-dimensional subcritical
Hopf normal form. Pyragas feedback requires an appropriate choice of a feedback
gain matrix for stabilization, as well as knowledge of the period of the
targeted UPO. We apply feedback in the directions tangent to the
two-dimensional center manifold. We parameterize the feedback gain by a modulus
and a phase angle, and give explicit formulae for choosing these two parameters
given the period of the UPO in a neighborhood of the bifurcation point. We
show, first heuristically, and then rigorously by a center manifold reduction
for delay differential equations, that the stabilization mechanism involves a
highly degenerate Hopf bifurcation problem that is induced by the time-delayed
feedback. When the feedback gain modulus reaches a threshold for stabilization,
both of the genericity assumptions associated with a two-dimensional Hopf
bifurcation are violated: the eigenvalues of the linearized problem do not
cross the imaginary axis as the bifurcation parameter is varied, and the real
part of the cubic coefficient of the normal form vanishes. Our analysis of this
degenerate bifurcation problem reveals two qualitatively distinct cases when
unfolded in a two-parameter plane. In each case, Pyragas-type feedback
successfully stabilizes the branch of small-amplitude UPOs in a neighborhood of
the original bifurcation point, provided that the phase angle satisfies a
certain restriction.Comment: 35 pages, 19 figure
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