A unified solution to swing-up control for n-link planar robot with single passive joint based on virtual composite links and passivity

This paper concerns the swing-up control of an n-link revolute planar robot with any one of the joints being passive. The goal is to design and analyze a swing-up controller that can bring the robot into any arbitrarily small neighborhood of the upright equilibrium point, at which all the links are in the upright position. We present a unified solution based on the notion of virtual composite link (VCL), which is a virtual link made up of one or more active links. By using the angles of two series of VCLs separated by the passive joint and using the total mechanical energy of the robot, we design a swing-up controller and analyze the global motion of the robot under the controller. The main new results of this paper are: (1) we obtain a lower bound for each control gain related to the angle of each VCL such that the closed-loop system has only one undesired equilibrium point in addition to the upright equilibrium point, and we present an original proof of the conditions on the control gains for a class of n-link underactuation-degree-one planar robots with an active first joint; (2) we provide a bigger control gain region for achieving the control objective than those of previous results on three- and n-link robots with a passive first joint; (3) we validate the theoretical results via numerical simulations on a 4-link robot with the passive joint in each of the four positions. This paper gains an insight into the passivity-based control of underactuated multiple-DOF systems.     

Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint

This paper studies nonlinear control of a 3-link planar robot moving in the vertical plane with only the first joint being actuated while the two other revolute joints are passive (called the APP robot below). A nonlinear energy-based controller is proposed, whose objective is to drive the APP robot into an invariant set where the first link is in the upright position and the total mechanical energy converges to its value at the upright equilibrium point (all three links are in the upright position). By presenting and using a new property of the motion of the APP robot, without any condition on its mechanical parameters, this paper proves that if the control gains are larger than specific lower bounds, then only a measure-zero set of initial conditions converges to three strictly unstable equilibrium points instead of converging to the invariant set. This paper presents numerical results for a physical 3-link planar robot to validate the obtained theoretical results and to demonstrate a switch–and–stabilize maneuver in which the energy-based controller is switched to a linear state feedback controller that stabilizes the APP robot at its upright equilibrium point.     

Neimark–Sacker bifurcation and chaos control in discrete-time predator–prey model with parasites

In this paper, we discuss the qualitative behavior of a four-dimensional discrete-time predator–prey model with parasites. We investigate existence and uniqueness of positive steady state and find parametric conditions for local asymptotic stability of positive equilibrium point of given system. It is also proved that the system undergoes Neimark–Sacker bifurcation (NSB) at positive equilibrium point with the help of an explicit criterion for NSB. The system shows chaotic dynamics at increasing values of bifurcation parameter. Chaos control is also discussed through implementation of hybrid control strategy, which is based on feedback control methodology and parameter perturbation. Finally, numerical simulations are conducted to illustrate theoretical results.     

Fractional-order PD control at Hopf bifurcations in a fractional-order congestion control system

In this paper, we address the problem of the bifurcation control of a delayed fractional-order dual model of congestion control algorithms. A fractional-order proportional–derivative (PD) feedback controller is designed to control the bifurcation generated by the delayed fractional-order congestion control model. By choosing the communication delay as the bifurcation parameter, the issues of the stability and bifurcations for the controlled fractional-order model are studied. Applying the stability theorem of fractional-order systems, we obtain some conditions for the stability of the equilibrium and the Hopf bifurcation. Additionally, the critical value of time delay is figured out, where a Hopf bifurcation occurs and a family of oscillations bifurcate from the equilibrium. It is also shown that the onset of the bifurcation can be postponed or advanced by selecting proper control parameters in the fractional-order PD controller. Finally, numerical simulations are given to validate the main results and the effectiveness of the control strategy.

     

On the dynamics of a spinning top under high-frequency excitation. Part II: pivot point under horizontal harmonic vibration

We investigate the dynamics of a spinning top whose pivot point undergoes a small-amplitude high-frequency horizontal vibration. The method of direct partition of motion is used to obtain an autonomous two-degree-of-freedom system governing the leading-order slow dynamics of the top’s nutation and precession angles. We show that the fast vibration leads to loss of stability of the upright “sleeping top” equilibrium state of the spinning top. We also show the existence of two new apparent equilibrium states that correspond to special solutions in which the spinning top is locked at constant nutation with the precession angle being aligned with the direction of excitation. We refer to those as “skewed sleeping top” states. We derive the condition for which these states exist and show that they are stable. The results are verified through numerical integration of the full non-autonomous system. In addition, we illustrate how these states allow the control of the attitude of the top through slow variation of the amplitude of fast excitation.     

索-梁耦合结构Hopf分岔的反控制

本文研究了索-梁耦合结构的Hopf分岔的反控制,动态窗口滤波反馈控制器在反控制领域有着很广泛的应用。本文通过使用这种控制器,可以使得受控系统在指定的平衡点处产生Hopf分岔。最后,根据庞加莱截面和级数展开法,证明了上述方法的有效性及可行性。     

Global stabilization of a double inverted pendulum with control at the hinge between the links

We study the plane motion of a double pendulum with fixed suspension point. The pendulum is controlled by a single moment applied to the internal hinge between the links. The moment is assumed to be bounded in absolute value. We construct a feedback control law bringing the pendulum from the position in which both links hang vertically downwards into the unstable upper position in which both links are inverted. The same feedback ensures the asymptotic stability of the pendulum in the upper equilibrium position. Since the pendulum can be brought to the lower equilibrium position from any initial states, it follows that the constructed control law ensures the global stability of the inverted pendulum.     

A unified energy-based control framework for tethered spacecraft deployment

Nonlinear Dynamics - This paper proposed a unified energy-based control framework for fast, stable, and precision deployment of underactuated TSS. The tension controller with partial state feedback...     

The research on Cournot–Bertrand duopoly model with heterogeneous goods and its complex characteristics

This paper details the research of the Cournot–Bertrand duopoly model with the application of nonlinear dynamics theory. We analyze the stability of the fixed points by numerical simulation; from the result we found that there exists only one Nash equilibrium point. To recognize the chaotic behavior of the system, we give the bifurcation diagram and Lyapunov exponent spectrum along with the corresponding chaotic attractor. Our study finds that either the change of output modification speed or the change of price modification speed will cause the market to the chaotic state which is disadvantageous for both of the firms. The introduction of chaos control strategies can bring the market back to orderly competition. We exert control on the system with the application of the state feedback method and the parameter variation control method. The conclusion has great significance in theory innovation and practice.     

Feedback Control of a Thermal Fluid Using State Estimation

Abstract

In his paper we consider the problem of designing a feedback controller for a thermal fluid. Any practical feedback controller for a fluid flow system must incorporate some type of state estimator. Moreover, regardless of the approach, one must introduce approximations at some point in the analysis. The method presented here uses distributed parameter control theory to guide the design and approximation of practical slate estimators. Wc use finite clement techniques to approximate optimal infinite dimensional controllers based on linear quadratic Gaussian lpar;LQG) and MinMax theory for the Bonssincsq equations. These designs are then compared to full state feedback. We present several numerical experiments and we describe how these techniques can also be applied to sensor placement problems.     

Global Dynamics of a Time-Delayed Microorganism Flocculation Model with Saturated Functional Responses

In this paper, a time-delayed model of microorganism flocculation with saturated functional responses is presented. We first analyse the local dynamics of this model with bifurcations in parameter fields, and then prove the collection of microorganisms is sustainable as well as obtain an explicit eventual lower bound of microorganism concentration when threshold parameter \(R_{0}>1\). This model has a backward bifurcation if \(w<R_{0}<1\) under an additional condition, which implies that the microorganism-free equilibrium coexists with a microorganism equilibrium. In these cases, we establish some sufficient conditions for the global stability by using a variant of the Lyapunov–LaSalle theorem.     

Adaptive-impulsive projective synchronization of drive-response delayed complex dynamical networks with time-varying coupling

This paper investigates the adaptive-impulsive projective synchronization of drive-response delayed complex dynamical networks with time-varying coupling, in which the weights of links between two connected nodes are time varying. By the stability analysis of the impulsive functional differential equation, the sufficient conditions for achieving projective synchronization are obtained, and a hybrid controller, that is, an adaptive feedback controller with impulsive control effects is designed. The numerical examples are presented to illustrate the effectiveness and advantage of the proposed synchronization criteria.     

Water Injection into a Low-Permeability Rock - 2: Control Model

In Part 1, we have demonstrated the inevitable growth of the fluid injection hydrofractures in low-permeability rocks. Thus, a smart controller that manages fluid injection in the presence of hydrofracture extension is highly desirable. Such a controller will be an essential part of automated waterflood project surveillance and control. Here we design an optimal injection controller using methods of optimal control theory. The controller inputs are the history of the injection pressure and the cumulative injection, along with the fracture size. The output parameter is the injection pressure and the control objective is the injection rate. We demonstrate that the optimal injection pressure depends not only on the instantaneous measurements, but it is determined by the whole history of the injection and of the fracture area growth. We show the controller robustness when the inputs are delayed and noisy and when the fracture undergoes abrupt extensions. Finally, we propose a procedure that allows estimation of the hydrofracture size at no additional cost.     

Stabilization of underactuated four-link gymnast robot using torque-coupled method

In this paper, we use an underactuated four-link gymnast robot (UFGR) with a passive first joint to model a gymnast on the bar, and consider the stabilization of the UFGR at the straight-up position. First, we introduce a coupled relationship between control torques for the UFGR. It decouples some state variables of the UFGR from others and changes the nonlinear UFGR system into a cascade-connected system. And then, we use an energy-based method to design a stabilizing controller for the zero dynamics of the cascade-connected system. And the triangle lemma guarantees the control objective of the UFGR to be achieved. The torque-coupled method transforms the stabilization of an underactuated four-link manipulator into that of an underactuated two-link acrobot. This makes the structure of the control system simple. Moreover, our proposed control strategy is easy to extend to the stabilization control of other multi-input nonlinear underactuated systems. Simulation results using the characteristics parameters of a gymnast demonstrate the validity of the proposed method.     

Dynamic analysis of mathematical model of ethanol fermentation with gas stripping

In this paper, a mathematical model for ethanol fermentation with gas stripping is investigated. Firstly, the model with continuous substrate input is taken. We study the existence and local stability of two equilibrium points. According to Poincare–Bendixson Theorem, the sufficient condition for the globally asymptotical stability of positive equilibrium point is obtained, which implies that we can get stable ethanol product. Secondly, we study the model with impulsive substrate input and obtain the sufficient condition for the local stability of cell-free periodic solution by using the Floquet’s theory of impulsive differential equation and small-amplitude perturbation skills. In a certain limiting case, it is shown that a nontrivial periodic solution emerges via a supercritical (subcritical) bifurcation. Finally, our results are confirmed by means of numerical simulation.     

Bifurcation and Chaos in the Duffing Oscillator with a PID Controller

We discuss in this paper the bifurcation, stability and chaos of the non-linear Duffing oscillator with a PID controller. Hopf bifurcation can occur and we show that there is a global stable fixed point. The PID controller works well in some fields of the parameter space, but in other fields of the parameter space, or if the reference input is not equal to zero, chaos is common for hard spring type system and so is fractal basin boundary for soft spring system. The Melnikov method is used to obtain the criterion of fractal basin boundary.     

Robust reliable sampled-data control for offshore steel jacket platforms with nonlinear perturbations

In this article, we consider the robust reliable sample-data control problem for an offshore steel jacket platform with input time-varying delay and possible occurrence of actuator faults subject to nonlinear self-exited hydrodynamic forces. The main objective of this work is to design a state feedback reliable sample-data controller such that for all admissible uncertainties as well as actuator failure cases, the resulting closed-loop system is robustly exponentially stable. By constructing an appropriate Lyapunov–Krasovskii functional and using linear matrix inequality (LMI) approach, a new set of sufficient condition is derived in terms of LMIs for the existence of robust reliable sample-data control law. In particular, the uncertainty under consideration in system parameters includes linear fractional norm-bounded uncertainty. Further, Schur complement and Jenson’s integral inequality are used to substantially simplify the derivation in the main results. More precisely, the controller gain matrix for the nonlinear offshore steel jacket platform can be achieved by solving the LMIs, which can be easily facilitated by using some standard numerical packages. Finally, a numerical example with simulation result is provided to illustrate the applicability and effectiveness of the proposed reliable sampled-data control scheme.     

Backstepping-based Lyapunov redesign control of hysteretic single degree-of-freedom structural systems

This paper considers the problem of active control design for a hysteretic single-degree-of-freedom (SDOF) structural system which is exposed to an earthquake excitation. First, backstepping-based control is used to design a controller for the structural system neglecting the effect of the earthquake disturbance. Then, Lyapunov redesign is utilized to design a robust controller for the system in the presence of the earthquake excitation. The hysteretic part of the structural system is modeled by the well-known Bouc–Wen equation, and this equation is directly utilized in the controller design. The controller is proposed for two cases: (a) when the parameters of the structure and the Bouc–Wen model are known, and (b) when these parameters are uncertain. A Lyapunov function is introduced for the closed-loop system, which guarantees the stability of the system equilibrium point. Since the controllers use the nominal and/or minimum and maximum values of the system parameters, the proposed methods are model based. Numerical evaluations are conducted to show the effectiveness of the proposed method. Seven different earthquakes are considered as the external excitations. Simulation results show that the displacement, velocity, and acceleration responses of the controlled structure are reduced significantly compared to the uncontrolled structure.     

Zero–Hopf bifurcation in a hyperchaotic Lorenz system

We characterize the zero–Hopf bifurcation at the singular points of a parameter codimension four hyperchaotic Lorenz system. Using averaging theory, we find sufficient conditions so that at the bifurcation points two periodic solutions emerge and describe the stability of these orbits.     

Periodic Orbits in Hamiltonian Systems with Involutory Symmetries

We study the existence of families of periodic solutions in a neighbourhood of a symmetric equilibrium point in two classes of Hamiltonian systems with involutory symmetry. In both classes, the involution reverses the sign of the Hamiltonian function, and the system is in 1:1 resonance. In the first class we study a Hamiltonian system with a reversing involution R acting symplectically. We first recover a result of Buzzi and Lamb showing that the equilibrium point is contained in a three dimensional conical subspace which consists of a two parameter family of periodic solutions with symmetry R, and furthermore that there may or may not exist two families of non-symmetric periodic solutions, depending on the coefficients of the Hamiltonian (correcting a minor error in their paper). In the second problem we study an equivariant Hamiltonian system with a symmetry S that acts anti-symplectically. Generically, there is no S-symmetric solution in a neighbourhood of the equilibrium point. Moreover, we prove the existence of at least 2 and at most 12 families of non-symmetric periodic solutions. We conclude with a brief study of systems with both forms of symmetry, showing they have very similar structure to the system with symmetry R.