Nonlinear Normal Modes for Vibrating Mechanical Systems. Review of Theoretical Developments

International audienceTwo principal concepts of nonlinear normal vibrations modes (NNMs), namely the Kauderer–Rosenberg and Shaw–Pierre concepts, are analyzed. Properties of the NNMs and methods of their analysis are presented. NNMs stability and bifurcations are discussed. Combined application of the NNMs and the Rauscher method to analyze forced and parametric vibrations is discussed. Generalization of the NNMs to continuous systems dynamics is also described

Synchronization problems for unidirectional feedback coupled nonlinear systems

In this paper we consider three different synchronization problems consisting in designing a nonlinear feedback unidirectional coupling term for two (possibly chaotic) dynamical systems in order to drive the trajectories of one of them, the slave system, to a reference trajectory or to a prescribed neighborhood of the reference trajectory of the second dynamical system: the master system. If the slave system is chaotic then synchronization can be viewed as the control of chaos; namely the coupling term allows to suppress the chaotic motion by driving the chaotic system to a prescribed reference trajectory. Assuming that the entire vector field representing the velocity of the state can be modified, three different methods to define the nonlinear feedback synchronizing controller are proposed: one for each of the treated problems. These methods are based on results from the small parameter perturbation theory of autonomous systems having a limit cycle, from nonsmooth analysis and from the singular perturbation theory respectively. Simulations to illustrate the effectiveness of the obtained results are also presented.Comment: To appear in Dyn. Contin. Discrete Impuls. Syst., Ser. A, Math. Ana

Contributions to ida-pbc with adaptive control for underactuated mechanical systems

This master thesis is devoted to developing an adaptive control scheme for the well- known Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique. The main objective of this adaptive scheme is to asymptotically stabilize a class of Underactuated Mechanical Systems (UMSs) in the presence of uncertainties (not necessarily matched). This class of UMSs is characterized by the solvability of the Partial Differential Equation (PDE) resulting from the IDA-PBC technique. Two propositions are stated in this work to design the adaptive IDA-PBC. One of the main properties of these propositions is that even though the parameter estimation conver- gence is not guaranteed, the adaptive IDA-PBC achieves asymptotic stabilization. To illustrate the effectiveness of these propositions, this work performs simulations of the Inertia Wheel Inverted Pendulum (IWIP) system, considering a time-dependent input disturbance, a type of physical damping, i.e., friction (not considered in the standard IDA-PBC methodology), and parameter uncertainties in the system (e.g., inertia).Tesi

Time Dependent Saddle Node Bifurcation: Breaking Time and the Point of No Return in a Non-Autonomous Model of Critical Transitions

There is a growing awareness that catastrophic phenomena in biology and medicine can be mathematically represented in terms of saddle-node bifurcations. In particular, the term `tipping', or critical transition has in recent years entered the discourse of the general public in relation to ecology, medicine, and public health. The saddle-node bifurcation and its associated theory of catastrophe as put forth by Thom and Zeeman has seen applications in a wide range of fields including molecular biophysics, mesoscopic physics, and climate science. In this paper, we investigate a simple model of a non-autonomous system with a time-dependent parameter $p(\tau)$ and its corresponding `dynamic' (time-dependent) saddle-node bifurcation by the modern theory of non-autonomous dynamical systems. We show that the actual point of no return for a system undergoing tipping can be significantly delayed in comparison to the {\em breaking time} $\hat{\tau}$ at which the corresponding autonomous system with a time-independent parameter $p_{a}= p(\hat{\tau})$ undergoes a bifurcation. A dimensionless parameter $\alpha=\lambda p_0^3V^{-2}$ is introduced, in which $\lambda$ is the curvature of the autonomous saddle-node bifurcation according to parameter $p(\tau)$, which has an initial value of $p_{0}$ and a constant rate of change $V$. We find that the breaking time $\hat{\tau}$ is always less than the actual point of no return $\tau^*$ after which the critical transition is irreversible; specifically, the relation $\tau^*-\hat{\tau}\simeq 2.338(\lambda V)^{-\frac{1}{3}}$ is analytically obtained. For a system with a small $\lambda V$, there exists a significant window of opportunity $(\hat{\tau},\tau^*)$ during which rapid reversal of the environment can save the system from catastrophe

On Norm-Based Estimations for Domains of Attraction in Nonlinear Time-Delay Systems

For nonlinear time-delay systems, domains of attraction are rarely studied despite their importance for technological applications. The present paper provides methodological hints for the determination of an upper bound on the radius of attraction by numerical means. Thereby, the respective Banach space for initial functions has to be selected and primary initial functions have to be chosen. The latter are used in time-forward simulations to determine a first upper bound on the radius of attraction. Thereafter, this upper bound is refined by secondary initial functions, which result a posteriori from the preceding simulations. Additionally, a bifurcation analysis should be undertaken. This analysis results in a possible improvement of the previous estimation. An example of a time-delayed swing equation demonstrates the various aspects.Comment: 33 pages, 8 figures, "This is a pre-print of an article published in 'Nonlinear Dynamics'. The final authenticated version is available online at https://doi.org/10.1007/s11071-020-05620-8

Synchronization between Bidirectional Coupled Nonautonomous Delayed Cohen-Grossberg Neural Networks

Based on using suitable Lyapunov function and the properties of M-matrix, sufficient conditions for complete synchronization of bidirectional coupled nonautonomous Cohen-Grossberg neural networks are obtained. The methods for discussing synchronization avoid complicated error system of Cohen-Grossberg neural networks. Two numerical examples are given to show the effectiveness of the proposed synchronization method

Dynamics of oscillator populations globally coupled with distributed phase shifts

We consider a population of globally coupled oscillators in which phase shifts with respect to the global force are different. Such a setup appears for spatially distributed oscillators with different propagation times of the global forcing signal. In the presence of independent noises and in the thermodynamic limit, we show that the dynamics can be reduced, for arbitrary coupling function, to an effective ensemble of units with identical phase shifts but with a proper renormalization of the order parameters. The same reduction is shown to be valid, by virtue of an analysis of Ott-Antonsen equations, for oscillators with a Cauchy distribution of natural frequencies and with the first harmonics coupling. However, the reduction to an effective ensemble may fail if the coupling function is complex enough to ensure the multistability of locked states

Positivity-preserving methods for ordinary differential equations

[EN] Many important applications are modelled by differential equations with positive solutions. However, it remains an outstanding open problem to develop numerical methods that are both (i) of a high order of accuracy and (ii) capable of preserving positivity. It is known that the two main families of numerical methods, Runge-Kutta methods and multistep methods, face an order barrier. If they preserve positivity, then they are constrained to low accuracy: they cannot be better than first order. We propose novel methods that overcome this barrier: second order methods that preserve positivity unconditionally and a third order method that preserves positivity under very mild conditions. Our methods apply to a large class of differential equations that have a special graph Laplacian structure, which we elucidate. The equations need be neither linear nor autonomous and the graph Laplacian need not be symmetric. This algebraic structure arises naturally in many important applications where positivity is required. We showcase our new methods on applications where standard high order methods fail to preserve positivity, including infectious diseases, Markov processes, master equations and chemical reactions.The authors thank the Isaac Newton Institute for Mathematical Sciences for support and hospitality during the programme "Geometry, compatibility and structure preservation in computational differential equations" when work on this paper was undertaken. This work was supported by EPSRC grant EP/R014604/1. S.B. has been supported by project PID2019-104927GB-C21 (AEI/FEDER, UE).Blanes Zamora, S.; Iserles, A.; Macnamara, S. (2022). Positivity-preserving methods for ordinary differential equations. ESAIM Mathematical Modelling and Numerical Analysis. 56(6):1843-1870. https://doi.org/10.1051/m2an/20220421843187056