1,830 research outputs found
Dynamics of Simple Balancing Models with State Dependent Switching Control
Time-delayed control in a balancing problem may be a nonsmooth function for a
variety of reasons. In this paper we study a simple model of the control of an
inverted pendulum by either a connected movable cart or an applied torque for
which the control is turned off when the pendulum is located within certain
regions of phase space. Without applying a small angle approximation for
deviations about the vertical position, we see structurally stable periodic
orbits which may be attracting or repelling. Due to the nonsmooth nature of the
control, these periodic orbits are born in various discontinuity-induced
bifurcations. Also we show that a coincidence of switching events can produce
complicated periodic and aperiodic solutions.Comment: 36 pages, 12 figure
Normal forms for underactuated mechanical systems with symmetry
We introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms include three classes of cascade systems, namely, nonlinear systems in strict feedback form, feedforward form, and nontriangular quadratic form (to be defined). In each case, the transformation to cascade systems is provided in closed-form. We apply our results to the Acrobot, the rotating pendulum, and the cart-pole system
Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses
This paper presents an approach to damp out the oscillatory motion of the
pendulum-like hanging platform on which a robotic manipulator is mounted. To
this end, moving masses were installed on top of the platform. In this paper,
asymptotic stability of the platform (which implies oscillation damping) is
achieved by designing reference acceleration of the moving masses properly. A
main feature of this work is that we can achieve asymptotic stability of not
only the platform, but also the moving masses, which may be challenging due to
the under-actuation nature. The proposed scheme is validated by the simulation
studies.Comment: IFAC Symposium on Robot Control (SYROCO) 201
Dynamical Systems, Stability, and Chaos
In this expository and resources chapter we review selected aspects of the
mathematics of dynamical systems, stability, and chaos, within a historical
framework that draws together two threads of its early development: celestial
mechanics and control theory, and focussing on qualitative theory. From this
perspective we show how concepts of stability enable us to classify dynamical
equations and their solutions and connect the key issues of nonlinearity,
bifurcation, control, and uncertainty that are common to time-dependent
problems in natural and engineered systems. We discuss stability and
bifurcations in three simple model problems, and conclude with a survey of
recent extensions of stability theory to complex networks.Comment: 28 pages, 10 figures. 26/04/2007: The book title was changed at the
last minute. No other changes have been made. Chapter 1 in: J.P. Denier and
J.S. Frederiksen (editors), Frontiers in Turbulence and Coherent Structures.
World Scientific Singapore 2007 (in press
Mathematical control of complex systems 2013
Mathematical control of complex systems have already become an ideal research area for control engineers, mathematicians, computer scientists, and biologists to understand, manage, analyze, and interpret functional information/dynamical behaviours from real-world complex dynamical systems, such as communication systems, process control, environmental systems, intelligent manufacturing systems, transportation systems, and structural systems. This special issue aims to bring together the latest/innovative knowledge and advances in mathematics for handling complex systems. Topics include, but are not limited to the following: control systems theory (behavioural systems, networked control systems, delay systems, distributed systems, infinite-dimensional systems, and positive systems); networked control (channel capacity constraints, control over communication networks, distributed filtering and control, information theory and control, and sensor networks); and stochastic systems (nonlinear filtering, nonparametric methods, particle filtering, partial identification, stochastic control, stochastic realization, system identification)
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
Robustness of Delayed Multistable Systems with Application to Droop-Controlled Inverter-Based Microgrids
Motivated by the problem of phase-locking in droop-controlled inverter-based microgrids with delays, the recently developed theory of input-to-state stability (ISS) for multistable systems is extended to the case of multistable systems with delayed dynamics. Sufficient conditions for ISS of delayed systems are presented using Lyapunov-Razumikhin functions. It is shown that ISS multistable systems are robust with respect to delays in a feedback. The derived theory is applied to two examples. First, the ISS property is established for the model of a nonlinear pendulum and delay-dependent robustness conditions are derived. Second, it is shown that, under certain assumptions, the problem of phase-locking analysis in droop-controlled inverter-based microgrids with delays can be reduced to the stability investigation of the nonlinear pendulum. For this case, corresponding delay-dependent conditions for asymptotic phase-locking are given
The sunflower equation: novel stability criteria
In this paper, we consider a delayed counterpart of the mathematical pendulum model that is termed sunflower equation and originally was proposed to describe a helical motion (circumnutation) of the apex of the sunflower plant. The “culprits” of this motion are, on one hand, the gravity and, on the other hand, the hormonal processes within the plant, namely, the lateral transport of the growth hormone auxin. The first mathematical analysis of the sunflower equation was conducted in the seminal work by Somolinos (1978) who gave, in particular, a sufficient condition for the solutions’ boundedness and for the existence of a periodic orbit. Although more than 40 years have passed since the publication of the work by Somolinos, the sunflower equation is still far from being thoroughly studied. It is known that a periodic solution may exist only for a sufficiently large delay, whereas for small delays the equation exhibits the same qualitative behavior as a conventional pendulum, and every solution converges to one of the equilibria. However, necessary and sufficient conditions for the stability of the sunflower equation (ensuring the convergence of all solutions) are still elusive. In this paper, we derive a novel condition for its stability, which is based on absolute stability theory of integro-differential pendulum-like systems developed in our previous work. As will be discussed, our estimate for the maximal delay, under which the stability can be guaranteed, improves the existing estimates and appears to be very tight for some values of the parameters
Potentials and Limits to Basin Stability Estimation
Acknowledgments The authors gratefully acknowledge the support of BMBF, CoNDyNet, FK. 03SF0472A.Peer reviewedPublisher PD
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