Dynamic modeling and extended bifurcation analysis of flexible-link manipulator

Abstract

In this article, the nonlinear dynamic analysis of a flexible-link manipulator is presented. Especially, the possibility of chaos occurrence in the system dynamic model is investigated. Upon the occurrence of chaos, the system dynamical behavior becomes unpredictable which in turn brings about uncertainty and irregularity in the system motion. The importance of this investigation is pronounced in similar systems such as double pendulum and single-link flexible manipulator. What makes this study distinct from previous ones is the increase in the number of links as well as the changing the bifurcation parameters from system mechanical parameters to force and torque inputs. To this aim, the motion equations of the N-link robot, which are derived with the aid of the recursive Gibbs-Appell formulation and the assumed modes method, are used. In the end, the equations of motion are developed for a two-link flexible manipulator, and its nonlinear dynamical behavior is analyzed via numerical integration of discrete equations. The results are presented in the form of bifurcation diagrams (for variation of torque amplitude), time histories, phase-plane portraits, Poincaré sections, and fast Fourier transforms. The outcomes indicate that when there is no offset, the decrease in damping results in chaotic generalized modal coordinates. In addition, as the excitation frequency decreases from 2π to π, a limiting amplitude is created at 0.35 before which the behavior of generalized rigid and modal coordinates is different, while this behavior has more similarity after this point. An experimental setup is also used to check the torques as the system input.     

Delayed feedback control and bifurcation analysis of Rossler chaotic system

In this paper, from the view of stability and chaos control, we investigate the Rossler chaotic system with delayed feedback. At first, we consider the stability of one of the fixed points, verifying that Hopf bifurcation occurs as delay crosses some critical values. Then, for determining the stability and direction of Hopf bifurcation we derive explicit formulae by using the normal-form theory and center manifold theorem. By designing appropriate feedback strength and delay, one of the unstable equilibria of the Rossler chaotic system can be controlled to be stable, or stable bifurcating periodic solutions occur at the neighborhood of the equilibrium. Finally, some numerical simulations are carried out to support the analytic results.     

A free boundary problem modeling thermal instabilities: Stability and bifurcation

In this paper, we analyze a simple free boundary model associated with solid combustion and some phase transition processes. There is strong evidence that this one-phase model captures all major features of dynamical behavior of more realistic (and complicated) combustion and phase transition models. The principal results concern the dynamical behavior of the model as a bifurcation parameter (which is related to the activation energy in the case of combustion) varies. We prove that the basic uniform front propagation is asymptotically stable against perturbations for the bifurcation parameter above the instability threshold and that a Hopf bifurcation takes place at the threshold value. Results of numerical simulations are presented which confirm that both supercritical and subcritical Hofp bifurcation may occur for physically reasonable nonlinear kinetic functions.     

Hopf bifurcation analysis in a delayed oncolytic virus dynamics with continuous control

A delayed oncolytic virus dynamics with continuous control is investigated. The local stability of the infected equilibrium is discussed by analyzing the associated characteristic transcendental equation. By choosing the delay ?? as a bifurcation parameter, we show that Hopf bifurcation can occur as the delay ?? crosses some critical values. Using the normal form theory and the center manifold reduction, explicit formulae are derived to determine the direction of bifurcations and the stability and other properties of bifurcating periodic solutions. Numerical simulations are carried out to support the theoretical results.     

Dynamic analysis and optimal control of drag-based vibratory systems using averaging

Nonlinear Dynamics - This paper presents dynamic analysis and optimal control of vibratory systems with asymmetric drag and asymmetric added mass, moving in a resisting medium. The paper considers...     

四维超混沌系统Hopf分岔分析与反控制

对超混沌系统进行分岔反控制的研究已成为当前一个重要研究方向,常采用线性控制器实现反控制。首先,对一个四维超混沌系统的Hopf分岔特性进行了分析,利用高维分岔理论推导出分岔特性与参数之间的关系式,以此判断系统的分岔类型。然后,设计一个由线性与非线性组合成的混合控制器对系统进行分岔反控制,控制参数取值不同时,系统会呈现出不同的分岔特性。通过分析得出,调控线性控制器参数可以使系统Hopf分岔提前或延迟发生;同时,调控混合控制器的两个控制参数,可以改变系统Hopf分岔特性,实现分岔反控制。     

Dynamics and nonlinear feedback control for torsional vibration bifurcation in main transmission system of scraper conveyor direct-driven by high-power PMSM

The main transmission system of a scraper conveyor direct-driven by the high-power permanent magnet synchronous motor (PMSM) is taken as a study object. With the effect of the nonlinear friction torque caused by the nonuniformity of the transported coal quality in the operation process considered, the torsional vibration bifurcation mechanism and the corresponding control measures for the main transmission system of the scraper conveyor are investigated. Firstly, based on the Lagrange–Maxwell principle, the global electromechanical-coupling dynamic models for the main transmission system of the scraper conveyor are constructed. Secondly, by the Routh–Hurwitz stability criterion, the Hopf bifurcation characteristics of the main transmission system are analyzed to reveal the influence of supercritical bifurcation and subcritical bifurcation on the torsional oscillation of the transmission shafting. Thirdly, in order to suppress the system unstable oscillation caused by the Hopf bifurcation, the motor speed is fed back to construct the nonlinear state feedback controller for the quadrature axis current of the PMSM by the \(I_{d}=0\) vector control strategy. Similarly, on the basis of the Routh–Hurwitz criterion, the influence of the linear feedback coefficient in the nonlinear state feedback controller on the system bifurcation position is discussed. Meanwhile, by the central manifold theory and canonical form theory, the effect of the square and cubic nonlinear feedback coefficients on the Hopf bifurcation type of the torsional vibration and the amplitude of the stable limit cycle are investigated. Finally, the numerical simulation results show the effectiveness of the designed controller.     

Nonlinear dynamics of COVID-19 pandemic: modeling,control, and future perspectives

Nonlinear Dynamics -     

The optimal control variational principle and finite elements analysis for viscoplastic dynamics

This paper presents the optimal control variational principle for Perzyna model which is one of the main constitutive relation of viscoplasticity in dynamics. And it could also be transformed to solve the parametric quadratic programming problem. The FEM form of this problem and its implementation have also been discussed in the paper.     

Forward and backward motion control of a vibro-impact capsule system

A capsule system driven by a harmonic force applied to its inner mass is considered in this study. Four various friction models are employed to describe motion of the capsule in different environments taking into account Coulomb friction, viscous damping, Stribeck effect, pre-sliding, and frictional memory. The non-linear dynamics analysis has been conducted to identify the optimal amplitude and frequency of the applied force in order to achieve the motion in the required direction and to maximize its speed. In addition, a position feedback control method suitable for dealing with chaos control and coexisting attractors is applied for enhancing the desirable forward and backward capsule motion. The evolution of basins of attraction under control gain variation is presented and it is shown that the basin of the desired attractors could be significantly enlarged by slight adjustment of the control gain improving the probability of reaching such an attractor.     

An eigenanalysis-based bifurcation indicator proposed in the framework of a reduced-order modeling technique for non-linear structural analysis

The Koiter–Newton method is a reduced order modeling technique which allows us to trace efficiently the entire equilibrium path of a non-linear structural analysis. In the framework of buckling the method is capable to handle snap-back and snap-through phenomena but may fail to predict reliably bifurcation branches along the equilibrium path. In this contribution we extend the original Koiter–Newton approach with a reliable and accurate bifurcation indicator which is based on an eigenanalysis of the reduced order tangent stiffness matrix. The proposed indicator has a negligible numerical effort since all computations refer to the reduced order model which is typically of very small dimension. The extension allows the identification of bifurcation points and a tracing of corresponding bifurcation branches in each sector of the equilibrium path. The performance of the method in terms of reliability, accuracy and computational effort is demonstrated with several examples.     

Sufficiency for optimal control with state and control constraints

Sufficient conditions are derived for optimal control of a dynamical system described by ordinary differential equations and subject to constraints on both state and control.     

Dynamic stability and bifurcation analysis in fractional thermodynamics

In mechanics, viscoelasticity was the first field of applications in studying geomaterials. Further possibilities arise in spatial non-locality. Non-local materials were already studied in the 1960s by several authors as a part of continuum mechanics and are still in focus of interest because of the rising importance of materials with internal micro- and nano-structure. When material instability gained more interest, non-local behavior appeared in a different aspect. The problem was concerned to numerical analysis, because then instability zones exhibited singular properties for local constitutive equations. In dynamic stability analysis, mathematical aspects of non-locality were studied by using the theory of dynamic systems. There the basic set of equations describing the behavior of continua was transformed to an abstract dynamic system consisting of differential operators acting on the perturbation field variables. Such functions should satisfy homogeneous boundary conditions and act as indicators of stability of a selected state of the body under consideration. Dynamic systems approach results in conditions for cases, when the differential operators have critical eigenvalues of zero real parts (dynamic stability or instability conditions). When the critical eigenvalues have non-trivial eigenspace, the way of loss of stability is classified as a typical (or generic) bifurcation. Our experiences show that material non-locality and the generic nature of bifurcation at instability are connected, and the basic functions of the non-trivial eigenspace can be used to determine internal length quantities of non-local mechanics. Fractional calculus is already successfully used in thermo-elasticity. In the paper, non-locality is introduced via fractional strain into the constitutive relations of various conventional types. Then, by defining dynamic systems, stability and bifurcation are studied for states of thermo-mechanical solids. Stability conditions and genericity conditions are presented for constitutive relations under consideration.     

Dynamics modeling and robotic-assist,leader-follower control of tractor convoys

This paper proposes a generalized dynamics model and a leader-follower control architecture for skid-steered tracked vehicles towing polar sleds. The model couples existing formulations in the literature for the powertrain components with the vehicle-terrain interaction to capture the salient features of terrain trafficability and predict the vehicles response. This coupling is essential for making realistic predictions of the vehicles traversing capabilities due to the power-load relationship at the engine output. The objective of the model is to capture adequate fidelity of the powertrain and off-road vehicle dynamics while minimizing the computational cost for model based design of leader-follower control algorithms. The leader-follower control architecture presented proposes maintaining a flexible formation by using a look-ahead technique along with a way point following strategy. Results simulate one leader-follower tractor pair where the leader is forced to take an abrupt turn and experiences large oscillations of its drawbar arm indicating potential payload instability. However, the follower tractor maintains the flexible formation but keeps its payload stable. This highlights the robustness of the proposed approach where the follower vehicle can reject errors in human leader driving.     

Control of the homoclinic bifurcation in buckled beams: Infinite dimensional vs reduced order modeling

A method for controlling non-linear dynamics and chaos is applied to the infinite dimensional dynamics of a buckled beam subjected to a generic space varying time-periodic transversal excitation. The homoclinic bifurcation of the hilltop saddle is identified as the undesired dynamical event, because it triggers, e.g., cross-well scattered (possibly chaotic) dynamics. Its elimination is then pursued by a control strategy which consists in choosing the best spatial and temporal shape of the excitation permitting the maximum shift of the homoclinic bifurcation threshold in the excitation amplitude-frequency parameters space.The homoclinic bifurcation is detected by the Holmes and Marsden's theorem [A partial differential equation with infinitely many periodic orbits: chaotic oscillations of a forced beam, Arch. Ration. Mech. Anal. 76 (1981) 135-165] constituting a generalization of the classical Melnikov's theory. Two classes of boundary conditions (b.c.) are identified: for the first, the Melnikov function is exactly the same as obtained with the reduced order models, while for the second, which is more general, this is no longer true, and the non-linear normal modes theory is used. Based on this distinction, the control method is then separately applied to the two cases, and the optimal spatial and temporal shapes of the excitation are determined.A detailed comparison of the infinite vs finite dimensional models is performed with respect to the control features, and it is shown that, depending on the b.c., the control based on the reduced order model provides either exact or engineering acceptable results, although more systematic investigations are required to generalize the last conclusion.     

Stability, bifurcation and chaos of a delayed oscillator with negative damping and delayed feedback control

This paper presents a detailed analysis on the dynamics of a delayed oscillator with negative damping and delayed feedback control. Firstly, a linear stability analysis for the trivial equilibrium is given. Then, the direction of Hopf bifurcation and stability of periodic solutions bifurcating from trivial equilibrium are determined by using the normal form theory and center manifold theorem. It shows that with properly chosen delay and gain in the delayed feedback path, this controlled delayed system may have stable equilibrium, or periodic solutions, or quasi-periodic solutions, or coexisting stable solutions. In addition, the controlled system may exhibit period-doubling bifurcation which eventually leads to chaos. Finally, some new interesting phenomena, such as the coexistence of periodic orbits and chaotic attractors, have been observed. The results indicate that delayed feedback control can make systems with state delay produce more complicated dynamics.     

Problems of modeling and optimal stabilization of the gas-lift process

The problems of motion of fluids, gases and gas–liquid mixtures in pipes related to gas-lift oil recovery are mathematically formulated as systems of nonlinear hyperbolic partial differential equations. Optimal-control problems are posed based on the proposed models and some real assumptions. These problems can be used to design programmed paths and controls, which underlie the controllers that stabilize the pressure or volume of injected gas. That the mathematical models agree with available field and laboratory data is demonstrated by examples     

Humidity-driven bifurcation in a hydrogel-actuated nanostructure: A three-dimensional computational analysis

Hydrogel-based adaptive structures that respond to specific external stimuli present immense potential for applications in microfluidics, shape-memory devices, artificial muscle and actuators. Using a three-dimensional finite element method, we analyse the humidity-driven bifurcation of a nanostructure, made up of periodically distributed nanoscale rods embedded vertically in a swollen hydrogel layer. The bifurcation manifests as a switching behavior of the nanorods between vertical and tilted states. The use of representative volume element with realistic boundary conditions allows us to fully consider inhomogeneous deformations of the hydrogel. Our computations reveal that at higher initial swelling ratio, the bifurcation behavior of the nanostructure approaches that of the case where homogeneous deformation in the hydrogel is considered. However, large deviation in the behavior may occur between the two at lower initial swelling ratio. We further investigate quantitatively the effects of geometrical and material variations on the bifurcation behavior. It is found that geometric-material parameters can significantly affect the critical switching state and its post-bifurcation behavior, enabling great tunability in the design and application of hydrogel-based adaptive nanostructure.