A general method for writing the dynamical equations of nonholonomic systems with ideal constraints

The basic notions of the dynamics of nonholonomic systems are revisited in order to give a general and simple method for writing the dynamical equations for linear as well as non-linear kinematical constraints. The method is based on the representation of the constraints by parametric equations, which are interpreted as dynamical equations, and leads to first-order differential equations in normal form, involving the Lagrangian coordinates and auxiliary variables (the use of Lagrangian multipliers is avoided). Various examples are illustrated.      

Dwell-time stability and stabilization conditions for linear positive impulsive and switched systems

Several results regarding the stability and the stabilization of linear impulsive positive systems under arbitrary, constant, minimum, maximum and range dwell-time are obtained. The proposed stability conditions characterize the pointwise decrease of a linear copositive Lyapunov function and are formulated in terms of finite-dimensional or semi-infinite linear programs. To be applicable to uncertain systems and to control design, a lifting approach introducing a clock-variable is then considered in order to make the conditions affine in the matrices of the system. The resulting stability and stabilization conditions are stated as infinite-dimensional linear programs for which three asymptotically exact computational methods are proposed and compared with each other on numerical examples. Similar results are then obtained for linear positive switched systems by exploiting the possibility of reformulating a switched system as an impulsive system. Some existing stability conditions are retrieved and extended to stabilization using the proposed lifting approach. Several examples are finally given for illustration.     

Null controllability of semilinear integrodifferential systems in Banach space

Sufficient conditions for null controllability of semilinear integrodifferential systems with unbounded linear operators in Banach space are established. The results are obtained using semigroup of linear operators, fractional powers of operators, and the Schauder fixed point theorem. An application to partial integrodifferential equations is given.     

Hybrid systems: Modelling and analysis using emergent dynamics

In this paper, we discuss modelling and analysis of hybrid systems with physical interaction dynamics. Such systems are typically considered complex and they are modelled using abstractions. Abstractions may, however, unintentionally exclude critical details, leading to partial or false results. Therefore, we study here use of a particle system in modelling and analysis. The novelty of the particle system is that it is designed to reveal interaction dynamics as emergent dynamics; thus, supporting analysis of complex and intricate interaction dynamics with acceptable modelling effort. As the main contribution, we formalize the particle system, and use it to model and analyze hybrid systems, both mechanical and biological, with nontrivial interaction dynamics.     

Stability analysis of a class of nonlinear positive switched systems with delays

This paper addresses the stability problem of delayed nonlinear positive switched systems whose subsystems are all positive. Both discrete-time systems and continuous-time systems are studied. In our analysis, the delays in systems can be unbounded. Two conditions are established to test the local asymptotic stability of the considered systems. The method to compute the domains of attraction is also proposed provided that the system is locally asymptotically stable. When reduced to general nonlinear positive systems, that is, the considered switched system consists of only one mode, an interesting conclusion follows that the proposed nonlinear positive system is locally asymptotically stable for all admissible delays and nonnegative nonlinearities which satisfy an extra condition at the origin, if and only if the system represented by the linear part is asymptotically stable for all admissible delays. Finally, a numerical example is presented to illustrate the obtained results.     

时间可逆系统的等时中心问题

若在中心附近的闭轨线都具有相同的周期,则此中心称为等时中心. 时间可逆多项式系统的等时中心问题是一类公开问题. 为了构造性地解决这一难题,讨论一类范围更广的时间可逆解析动力系统, 给出相应横截交换系统的递推公式,此公式可以用于等时中心条件的推导. 在递推公式的基础上,以吴特征集方法为工具,给出一类时间可逆三次系统具有横截交换系统的充要条件.     

Uniform Stability for Time-Varying Infinite-Dimensional Discrete Linear Systems

Stability for time-varying discrete linear systems in a Banachspace is investigated. On the one hand is established a fairlycomplete collection of necessary and sufficient conditions foruniform asymptotic equistability for input-free systems. Thisincludes uniform and strong power equistability, and uniformand strong l_p-equistability, among other technical conditionswhich also play an essential role in stability theory. On theother hand, it is shown that uniform asymptotic equistabilityfor input-free systems is equivalent to each of the followingconcepts of uniform stability for forced systems: l_p-input l_p-state,e_o-input e_o-state, bounded-input bounded-state, l_p-input bounded-state(with p>1), e_o-input bounded-state, and convergent-inputbounded-state; these are also equivalent to their nonuniformcounterparts. For time-varying convergent systems, the aboveis also equivalent to convergent-input convergent-state stability.The proofs presented here are all ‘lementary’ inthe sense that they are based essentially only on the Banach–Steinhaustheorem.     

Stabilizability of a class of stochastic bilinear hybrid systems

The problem of the stabilizability of stochastic nonlinear hybrid systems with a Markovian or any switching rule is considered. Using the Lyapunov technique sufficient conditions for the asymptotic stabilizability in probability by a smooth controller in every structure are found. In particular, the asymptotic stabilizability in probability problem of stochastic bilinear hybrid systems with a Markovian or any switching rule is discussed and a closed-loop controller is found. Also the sufficient conditions for the exponential mean-square stabilizability for bilinear hybrid systems with any switching based on the Lie algebra approach are formulated and an open-loop controller is designed. The obtained results are illustrated by examples and simulations.     

Limited space heterogeneous queueing problem with an additional special feeding source

This paper considers a limited queue space, single channel, first come first served heterogeneous queueing system. There are two operating states sayE and F. For either state, the time in transition from one state to the other, follows an exponential distribution. In both the states E and F, the arrivals are Poissonian with different parameters and the service times have different exponential distributions. In either state, an additional number M of units join the system whenever the number already there declines to one unit. Thus the channel is busy at all times.     

Analysis of switched linear systems in the plane,part 1: Local behavior of trajectories and local cycle geometry

This paper investigates the problem of control of switched linear systems evolving inR ². The concept of an opposition point is introduced, and its properties related to the existence of closed trajectories in the phase plane are investigated. The geometry of cycles in a neighborhood of an opposition point is also studied.This research was supported by the Office of Naval Research, ONR Contract No. N0013-80-C-0199, and the United States Department of Energy, DOE Contract No. DE-AC01-79-ET-29363.     

Switching synchronized chaotic systems applied to secure communication

The purpose of this paper is to study the behavior of the solutions of two synchronized chaotic systems when the solutions switch from the first to the second system and vice-versa. The initial condition is chosen in the first system and the solutions travels for time $t \in [0, h]$, where $h>0$. The value of the solution at time $h$ is then chosen as the initial condition for the solution of the second system and this solution travels for time $t \in [h, 2h]$. The value of the solution at time $2h$ is then chosen as the initial value for the solution of the first system and so on. The first system is composed of two subsystems, Master and Slave that are synchronized. We present applications using the Lorenz, Chua and Chen systems. Some simulations using Matlab are presented.     

On the Controllability of Linear and Semilinear Impulsive Systems

In this paper, we establish some su?cient conditions for the complete controllability of linear and semilinear impulsive systems. For the semilinear systems, we assume that nonlinearities are Lipschitzian type. We invoke the tools of nonlinear functional analysis and fixed point theorems to establish the results. The results are also compared with the existing results in the literature in order to show the effectiveness of the results obtained. Few illustrative examples are provided to substantiate the results.     

Deterministic and stochastic approaches to supervisory control design for networked systems with time-varying communication delays

This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the closed-loop performance relative to what can be obtained using a single robust controller. Our analysis considers average dwell-time switching and is based on a novel multiple Lyapunov–Krasovskii functional. We develop stability conditions that can be verified by semi-definite programming, and show that the associated state feedback synthesis problem also can be solved using convex optimization tools. Extensions of the analysis and synthesis procedures to the case when the evolution of the delay mode is described by a Markov chain are also developed. Simulations on small and large-scale networked control systems are used to illustrate the effectiveness of our approach.     

Analysis of switched linear systems in the plane,part 2: Global behavior of trajectories,controllability and attainability

The controllability and attainability properties of switched linear systems in the plane are investigated. A main result is the state-space decomposition theorem which classifies various convex regions inR ² according to their controllability properties. A preliminary investigation into the problem of determining minimum switch trajectories between two points inR ² is also presented.This research was supported by the Office of Naval Research, ONR Contract No. N0014-80-C-0199, and the United States Department of Energy, DOE Contract No. DE-AC01-79-ET-29363.     

Hybrid Impulsive Control of Stochastic Systems with Multiplicative Noise Under Markovian Switching

A problem of state output feedback stabilization of discrete-time stochastic systems with multiplicative noise under Markovian switching is considered. Under some appropriate assumptions, the stability of this system under pure impulsive control is given. Further under hybrid impulsive control, the output feedback stabilization problem is investigated. The hybrid control action is formulated as a combination of the regular control along with an impulsive control action. The jump Markovian switching is modeled by a discrete-time Markov chain. The control input is simultaneously applied to both the stochastic and the deterministic terms. Sufficient conditions based on stochastic semi-definite programming and linear matrix inequalities (LMIs) for both stochastic stability and stabilization are obtained. Such a nonconvex problem is solved using the existing optimization algorithms and the nonconvex CVX package. The robustness of the stability and stabilization concepts against all admissible uncertainties are also investigated. The parameter uncertainties we consider here are norm bounded. Two examples are given to demonstrate the obtained results.     

Equivalence of several characteristics of dual switched linear systems

This paper is concerned with the equivalence of several dynamic characteristics between mutually dual switched linear systems, both discrete- and continuous-time cases are considered. Two systems are mutually dual means that their system matrices are transpose of each other. The dynamic properties considered in this paper include four types: exponential stability, global uniform asymptotic stability, attractivity, and weak attractivity. It is shown that every one of the four dynamic properties of a switched linear system implies each of the four dynamic properties of its dual system, and vice versa. The main results enable us to investigate these dynamic properties of switched system by virtue of study related to the corresponding properties of its dual system, thus providing an alternative way to explore the dynamics of switched systems. A numerical example is provided to illustrate the obtained theoretical conclusions.     

Complex evolution of a multi-particle system

This paper studies a discrete dynamical system of interacting particles that evolve by interacting among them. The computational model is an abstraction of the natural world, and real systems can range from the huge cosmological scale down to the scale of biological cell, or even molecules. Different conditions for the system evolution are tested. The emerging patterns are analysed by means of fractal dimension and entropy measures. It is observed that the population of particles evolves towards geometrical objects with a fractal nature. Moreover, the time signature of the entropy can be interpreted at the light of complex dynamical systems.     

Stability of finite-dimensional and infinite-dimensional nonlinear delay systems, independent of the delay

The stability of nonlinear delay systems is considered. Generalconditions on pseudo-linear finite- and infinite-dimensionaldelay systems are given for stability independent of the delay.     

On maximally superintegrable systems

Locally any completely integrable system is maximally superintegrable system since we have the necessary number of the action-angle variables. The main problem is the construction of the single-valued additional integrals of motion on the whole phase space by using these multi-valued action-angle variables. Some constructions of the additional integrals of motion for the Stäckel systems and for the integrable systems related with two different quadratic r-matrix algebras are discussed. Among these system there are the open Heisenberg magnet and the open Toda lattices associated with the different root systems.