Numerical solution of optimization problems in vibrational mechanics using the characteristics method

Optimal control problems with a terminal pay-off functional are considered. The dynamics of the control system consists of rapid oscillatory and slow non-linear motions. A numerical method for solving these problems using the characteristics of the Hamilton–Jacobi–Bellman equation is presented. Estimates of the accuracy of the method are obtained. A theorem is proved which enables one to determine the class of functions containing the optimal preset control to be obtained. The results of the numerical solution of a terminal optimization problem for a fast non-linear pendulum are presented.     

Controllability and stabilization of programmed motions of reversible mechanical and electromechanical systems

Problems of controllability and methods of stabilizing programmed motions of a large class of mechanical and electromechanical systems which are reversible with respect to the control are considered. Criteria of the controllability and stabilizability of reversible systems are obtained. Programmed motions and algorithms of programmed control are designed in analytical form and algorithms of programmed motions for non-linear reversible systems are synthesized.     

Methods of stabilizing the motions of reversible dynamic systems using non-linear canonical transformations

Methods of synthesizing stabilizing and robust control laws for non-linear reversible systems which ensure asymptotic stability of programmed motions, specified figures of merit and decomposition of transients are considered. Non-linear canonical transformations of state space and the controls are obtained which simplify the synthesis and analysis of the laws of the stabilization of reversible dynamic systems.     

Near-resonant motions in systems with random perturbations

The effect of random perturbations on near-resonant motions in non-linear oscillatory systems is investigated. It is assumed that the equations of motion of the system can be reduced to standard form with a small parameter ϵ, and that an isolated primary resonance exists in the unperturbed system [1]. The behaviour of the perturbed system in the ϵ-neighbourhood of the resonance surface is considered and an effect analogous to deterministic “capture in resonance” [1] in an asymptotically long time interval is investigated.     

A reducing of a chaotic movement to a periodic orbit,of a micro-electro-mechanical system,by using an optimal linear control design

This paper analyzes the non-linear dynamics, with a chaotic behavior of a particular micro-electro-mechanical system. We used a technique of the optimal linear control for reducing the irregular (chaotic) oscillatory movement of the non-linear systems to a periodic orbit. We use the mathematical model of a (MEMS) proposed by Luo and Wang.     

Single-frequency oscillations of non-linear systems with distributed parameters

A weakly non-linear oscillatory system with distributed parameters is investigated An asymptotic method of constructing a solution, which describes the oscillatory motions of the single-mode (single-frequency) approximation, which is usually implemented in practical problems, is described and justified. Constructive sufficient conditions are formulated and the closeness of the approximate single-frequency solution to the exact solution in an asymptotically long time interval is proved. Possible extensions of the structure of the perturbing functions are considered and the case of the finite-mode approximation is investigated. Solutions of specific problems, which are of practical interest, are constructed to illustrate the effectiveness of the single-frequency approximation method.     

Suppressing chaos via Lyapunov–Krasovskii’s method

An algorithm for suppressing the chaotic oscillations in non-linear dynamical systems with singular Jacobian matrices is developed using a linear feedback control law based upon the Lyapunov–Krasovskii (LK) method. It appears that the LK method can serve effectively as a generalised method for the suppression of chaotic oscillations for a wide range of systems. Based on this method, the resulting conditions for undisturbed motions to be locally or globally stable are sufficient and conservative. The generalized Lorenz system and disturbed gyrostat equations are exemplified for the validation of the proposed feedback control rule.     

Logarithmic matrix norms in motion stability problems

The problem of the stability of the motions of mechanical systems, described by non-linear non-autonomous systems of ordinary differential equations, is considered. Using the logarithmic matrix norm method, and constructing a reference system, the sufficient conditions for the asymptotic and exponential stability of unperturbed motion and for the stabilization of progammed motions of such systems are obtained. The problem of the asymptotic stability of a non-conservative system with two degrees of freedom is solved, taking for parametric disturbances into account. Examples of the solution of the problem of stabilizing programmed motions – for an inverted double pendulum and for a two-link manipulator on a stationary base – are considered.     

Controllability and stabilization of programmed motions of an automobile-type transport robot

A non-linear model of the motion of an automobile-type transport robot (TR) with absolutely rigid wheels, a steering device and actuators based on DC motors, is considered. Such a model for TR motion is a non-holonomic electromechanical system and, if the dynamics of the actuators and the steering device (forces of elasticity and attenuation in its elements) is ignored, corresponds to the model of automobile motion devised by Lineikin [1]. Non-linear canonical transformations of the state and control space coordinates are constructed which reduce the initial equations of motion of the TR to a simpler canonical form, convenient for the analysis and synthesis of control systems for the TR. These transformations are used to find the conditions for the controllability of the TR as a controlled object. Algorithms are given for constructing programmed controls and programmed motions of the TR. Stabilizing control laws are synthesized that make the programmed motions of the TR asymptotically stable and guarantee that the transients will have preassigned properties     

Invariant solutions of rank two of the equations of the rotationally symmetric motions of an inhomogeneous liquid

An optimal system of first-order algebras of the system of equations for the rotationally-symmetric unsteady motion of an inhomogeneous liquid is constructed. New exact solutions of certain factor systems are found which describe motions with free boundaries or internal non-linear waves.     

Controllability and stabilization of the programmed motions of a transport robot

A non-linear mathematical model for the motion of a transport robot (TR) with a caterpillar chassis and with drives based on DC motors, which is a non-holonomic electromechanical system, is considered. Non-linear canonical transformations of the coordinates of the state and control space are constructed, which reduce the initial equations of motion of the TR to a simpler canonical form, which is convenient for analysing and synthesizing control systems for the TR. The conditions for the TR to be controllable as a controlled object are found. Algorithms are given for constructing programmed motions (PMs) of the TR. Stabilizing control laws are synthesized under which the PMs of the TR are asymptotically stable and transients of a specified nature are ensured.     

Optimal control of vibrationally excited locomotion systems

Optimal controls are constructed for two types of mobile systems propelling themselves due to relative oscillatory motions of their parts. The system of the first type is modelled by a rigid body (main body) to which two links are attached by revolute joints. All three bodies interact with the environment with the forces depending on the velocity of motion of these bodies relative to the environment. The system is controlled by high-frequency periodic angular oscillations of the links relative to the main body. The system of the other type consists of two bodies, one of which (the main body) interacts with the environment and with the other body (internal body), which interacts with the main body but does not interact with the environment. The system is controlled by periodic oscillations of the internal body relative to the main body. For both systems, the motions with the main body moving along a horizontal straight line are considered. Optimal control laws that maximize the average velocity of the main body are found.     

Application of differential transform method to non-linear oscillatory systems

In this paper, the differential transform method is proposed for solving non-linear oscillatory systems. These solutions do not exhibit periodicity, which is the characteristic of oscillatory systems. A modification of the differential transform method, based on the use of Padé approximants, is proposed. We use alternative technique by which the solution obtained by the differential transform method is made periodic. The method is described and illustrated with examples. The results reveal that the method is very effective and convenient.     

Quadrature methods for highly oscillatory linear and non-linear systems of ordinary differential equations: part II

In this paper we present efficient numerical approximation for systems of highly oscillatory ordinary differential equations with matrices of variable coefficients. We assume that the spectrum of the matrix is purely imaginary and the frequency of oscillation grows large. We develop the asymptotic and the Filon-type methods for linear systems with time dependent matrices and we integrate oscillatory quadrature rules with waveform relaxation methods employing the WRF method for non-linear systems. We solve matrix exponential in Lie groups employing Magnus expansion. The methods are illustrated in several numerical examples of interest.     

On the stability of the steady-state motions of systems with quasicyclic coordinates

The stability of the steady-state motions of a system with quasicyclic coordinates under the action of potential and dissipative forces and also forces which depend on the quasicyclic velocities is investigated. The results are applied to the problem of the stability of the steadystate plane-parallel motions of a rotor on a shaft which is set up in elasticated bearings with a non-linear reaction /1/.

The stability of the stationary motions and relative equilibria of systems with a single cyclic (quasicyclic) coordinate has previously been investigated /2/ from a common point of view. The question of the stability of the stationary motions of systems with quasicyclic coordinates under the action of constant and dissipative forces has been considered in /3/. The results obtained in /2/ have been generalized /4/ to systems with several cyclic (quasicyclic) coordinates and, additionally, a third regime of uniform motions, which includes the regime considered in /3/, has also been investigated.     

Linear stabilization of the programmed motions of non-linear controlled dynamical systems under parametric perturbations

A non-linear controlled dynamical system that describes the dynamics of a broad class of non-linear mechanical and electromechanical systems (in particular, electromechanical robot manipulators) is considered. It is proposed that the real parameter vector of a non-linear controlled dynamical system belongs to an assigned (admissible) constrained closed set and is assumed to be unknown. The programmed motion of the non-linear controlled dynamical system and the programmed control that produces it are assigned (constructed) by using an estimate, that is, the nominal value of the parameter vector of the non-linear controlled dynamical system, which differs from its actual value. A procedure for synthesizing stabilizing control laws with linear feedback with respect to the state that ensure stabilization of the programmed motions of the non-linear controlled dynamical system under parametric perturbations is proposed. A non-singular linear transformation of the coordinates of the state space that transforms the original non-linear controlled dynamical system in deviations (from the programmed motion and programmed control) into a certain non-linear controlled dynamical system of special form, which is convenient for analysing and synthesizing laws for controlling the motion of the system, is constructed. A certain non-linear controlled dynamical system of canonical form is derived in the original non-linear controlled dynamical system in deviations. The transformation of the coordinates of the state space constructed and the Lyapunov function methodology are used to synthesize stabilizing control laws with linear feedback with respect to the state, which ensure asymptotic stability as a whole of the equilibrium position of the non-linear controlled dynamical system of canonical form and dissipativity “in the large” of the non-linear controlled dynamical system of special form and of the original non-linear controlled dynamical system in deviations. In the control laws synthesized, the formulae for the elements of their matrices of the feedback loop gains do not depend on the real parameter vector of the non-linear controlled dynamical system, and they depend solely on the constants from certain estimates that hold for all of its possible values from an assigned set. Estimates of the region of dissipativity “in the large” of the non-linear controlled dynamical system of special form and the original non-linear controlled dynamical system in deviations closed by the stabilizing control laws synthesized are given, and estimates for their limit sets and regions of attraction are presented.     

Non-linear seismic response of concrete gravity dams to near-fault ground motions including dam-water-sediment-foundation interaction

This study focuses on non-linear seismic response of a concrete gravity dam subjected to near-fault and far-fault ground motions including dam-water-sediment-foundation rock interaction. The elasto-plastic behavior of the dam concrete is idealized using Drucker–Prager yield criterion based on associated flow rule assumption. Water in the reservoir is represented by 9-noded isoparametric quadrilateral fluid finite elements while the dam, the foundation rock and the sediment layer are modeled by using 8-noded isoparametric quadrilateral solid finite elements. The program NONSAP modified for elasto-plastic analysis of fluid-structure systems using the Lagrangian fluid finite element is employed in the response calculations. The fluid element includes the effects of surface waves and sloshing behavior of fluids. Non-linear seismic analyses of the selected concrete dam subjected to both near-fault and far-fault ground motions are performed. The results obtained from linear and non-linear analyses are compared with each other.     

Controllability and observability in the problem of stabilizing steady motions of non-holonomic mechanical systems with cyclic coordinatest

The approach to the solution of stabilization problems for steady motions of holonomic mechanical systems [1, 2] based on linear control theory, combined with the theory of critical cases of stability theory, is used to solve the analogous problems for non-holonomic systems. It is assumed that the control forces may affect both cyclic and positional coordinates, where the number r of independent control inputs may be considerably less than the number n of degrees of freedom of the system, unlike in many other studies (see, e.g., [3–5]), in which as a rule r = n. Several effective new criteria of controllability and observability are formulated, based on reducing the problem to a problem of less dimension. Stability analysis is carried out for the trivial solution of the complete non-linear system, closed by a selected control. This analysis is a necessary step in solving the stabilization problem for steady motion of a non-holonomic system (unlike holonomic systems), since in most cases such a system is not completely controllable.     

Linear and non-linear magnetoconvection in a porous medium

Linear and non-linear magnetoconvection in a sparsely packed porous medium with an imposed vertical magnetic field is studied. In the case of linear theory the conditions for direct and oscillatory modes are obtained using the normal modes. Conditions for simple and Hopf-bifurcations are also given. Using the theory of self-adjoint operator the variation of critical eigenvalue with physical parameters and boundary conditions is studied. In the case of non-linear theory the subcritical instabilities for disturbances of finite amplitude is discussed in detail using a truncated representation of the Fourier expansion. The formal eigenfunction expansion procedure in the Fourier expansion based on the eigenfunctions of the corresponding linear stability problem is justified by proving a completeness theorem for a general class of non-self-adjoint eigenvalue problems. It is found that heat transport increases with an increase in Rayleigh number, ratio of thermal diffusivity to magnetic diffusivity and porous parameter but decreases with an increase in Chandrasekhar number.     

Chaos and chaos synchronization for a non-autonomous rotational machine systems

Chaos and chaos synchronization of the centrifugal flywheel governor system are studied in this paper. By mechanics analyzing, the dynamical equation of the centrifugal flywheel governor system is established. Because of the non-linear terms of the system, the system exhibits both regular and chaotic motions. The characteristic of chaotic attractors of the system is presented by the phase portraits and power spectra. The evolution from Hopf bifurcation to chaos is shown by the bifurcation diagrams and a series of Poincaré sections under different sets of system parameters, and the bifurcation diagrams are verified by the related Lyapunov exponent spectra. This letter addresses control for the chaos synchronization of feedback control laws in two coupled non-autonomous chaotic systems with three different coupling terms, which is demonstrated and verified by Lyapunov exponent spectra and phase portraits. Finally, numerical simulations are presented to show the effectiveness of the proposed chaos synchronization scheme.