The adjoining cell mapping and its recursive unraveling,part II: Application to selected problems

Several applications of the adjoining cell mapping technique are provided here by employing the adaptive mapping unraveling algorithm to analyze smooth and pathological autonomous dynamical systems. The performance of an implementation of recursive unraveling algorithm is also illustrated regarding its low memory requirements for computational purposes when compared with the simple cell mapping method. The applications considered here illustrate the effectiveness of the adjoining cell mapping technique in its ability to determine limit cycles and to unravel nonstandard dynamics. The advantages of this new technique of global analysis over the simple cell mapping method are discussed.     

A two scaled numerical method for global analysis of high dimensional nonlinear systems

This paper first analyzes the features of two classes of numerical methods for global analysis of nonlinear dynamical systems, which regard state space respectively as continuous and discrete ones. On basis of this understanding it then points out that the previously proposed method of point mapping under cell reference (PMUCR), has laid a frame work for the development of a two scaled numerical method suitable for the global analysis of high dimensional nonlinear systems, which may take the advantages of both classes of single scaled methods but will release the difficulties induced by the disadvantages of them. The basic ideas and main steps of implementation of the two scaled method, namely extended PMUCR, are elaborated. Finally, two examples are presented to demonstrate the capabilities of the proposed method.     

胞映射方法的研究和进展

介绍了胞映射方法的研究和进展. 归纳了目前胞映射方法的几种主要研究方法, 主要包括简单胞映射、广义胞映射、图胞映射、图胞映射的符号分析方法、图胞映射的面向集合方法、邻接胞映射、庞加莱型的简单胞映射、插值胞映射以及胞参照点映射方法, 分析了各类方法的基本特点和特色, 简述了这几种胞映射方法的最新国内外进展, 综述了胞映射方法在控制及相关领域的应用研究及进展, 给出了胞映射方法研究的一些展望, 提出了胞映射方法研究可能率先突破的几个研究方向.     

基于黎曼几何的非线性振子动力学分析递推解析算法

基于黎曼几何和变分原理,推导了黎曼流形上非线性耗散动力系统的二阶微分动力学方程,并运用流形收缩的概念将动力学方程离散化,进而建立了相应的递推求解格式。选取3个自治非线性阻尼振子系统,分别采用递推解析算法和龙格库塔法求解微分动力学方程,并比较分析了不同的时间步长下两种算法的计算耗时。结果表明,与龙格库塔法相比,基于黎曼几何的递推算法不仅能得到每一时步的解析表达式,而且计算耗时短,计算效率高。基于黎曼流形的动力学方程递推算法为非线性动力学系统的解析求解提供了新思路。     

迭代图胞映射方法的快速生成实现

在迭代图胞映射方法的框架下,基于摄动微分多项式的思想讨论了常微分方程的快速求解,将所得结果与迭代图胞映射方法有机结合,有效地解决了迭代图胞映射动力系统的快速生成问题,克服了微分方程动力系统生成迭代图胞映射系统过程中耗时较多、效率低下的不足,大大提高了计算效率。通过对典型非线性系统——杜芬方程的应用分析,证实了该方法的有...     

The global analysis of higher order nonlinear dynamical systems and the application of cell-to-cell mapping method

In this paper, the general characteristics and the topological consideration of the global behaviors of higher order nonlinear dynamical systems and the characteristics of the application of cell-to-cell mapping method in this analysis are expounded. Specifically, the global analysis of a system of two weakly coupled van der Pol oscillators using cell-to-cell mapping method is presented.The analysis shows that for this system, there exist two stable limit cycles in 4-dimensional state space, and the whole 4-dimensional state space is divided into two almost equal parts which are, respectively, the two asymototically stable domains of attraction of the two periodic motions of the two stable limit cycles. The validities of these conclusions about the global behaviors are also verified by direct long term numerical integration. Thus, it can be seen that the cell-to-cell mapping method for global analysis of fourth order nonlinear dynamical systems is quite effective.     

非光滑动力系统的迭代图胞映射法

分析了图胞映射方法在处理非光滑动力系统过程中遇到的关键问题------胞流扩张. 为了有效减小胞流扩张, 基于迭代图胞映射方法, 通过引入人工顶点集的概念, 构建了非光滑系统迭代图胞映射具体实施方案, 讨论了在此过程中值得注意的事项. 结合典型实例分析, 证实了该方法的有效性.      

全局分析的广义胞映射图论方法

应用广义胞映射理论的离散连续状态空间为胞状态空间的基本概念,依循Ｈｓｕ的将偏序集和图论理论引入广义胞映射的思想,以集论和图论理论为基础,提出了进行非线性动力系统全局分析的广义胞映射图论方法．在胞状态空间上,定义二元关系,建立了广义胞映射动力系统与图的对应关系,给出了自循环胞集和永久自循环胞集存在判别定理的证明,这样可借助国论的理论和算法来确定动力系统的全局性质．应用图的压缩方法,对所有的自循环胞集压缩后,在全局瞬态分析计算中瞬态胞的总数目得到有效地减少,并能借助于图的算法有效地实现全局瞬态的拓扑排序．在整个定性性质的分析计算中,仅采用布尔运算．     

Implementation of 3-D isoparametric finite elements on supercomputer for the formulation of recursive dynamical equations of multi-body systems

Kinematic formulation of the versatile three-dimensional isoparametric eight-noded brick element with six degrees of freedom at each node (three-translational and three-rotational), suitable for the discretization of flexible bodies with intricate geometric configurations, has been developed and implemented on the supercomputer IBM-3090 for the simulation of dynamical mechanical systems. The pipelining feature of the above vector-processor has been exploited for achieving a significant order of magnitude in computational efficiency. The concepts of indexed reference arrays have been utilised in the development of dynamical equations of motion, eliminating expensive Boolean matrix multiplication operations. The algorithm developed is an improvement and extension of [7], with the implementation of the brick element formulation. The recursive Kane's equations, modal analysis technique and strain energy principles are integrated into the procedure. The above technique is also applied to the constrained multi-body systems. An illustrative example of an spin-up maneuver of a space robot with three flexible links carrying a solar panel is presented. The prediction of dynamic behaviour of the system is carried out under a constrained environment and the effects of geometric stiffening and its subsequent restoring elastic forces are demonstrated.     

Solution of Fixed Final State Optimal Control Problems via Simple Cell Mapping

A strategy is proposed to solve the fixed final state optimalcontrol problem using the simple cell mapping method. A non-uniform timestep simple cell mapping is developed to create a general database fromwhich solutions of various optimal control problems can be obtained. Atwo-stage backward search algorithm is proposed to eliminate degeneratedpaths often associated with the simple cell mapping. The proposed methodcan accurately delineate the switching curves and eliminate false limitcycles in the solution. The method is applied to two optimal controlproblems with bang-bang control. The well-known minimum time controlproblem of moving a point mass from any initial condition to the originof the phase plane is studied first. This example has exact solutionsavailable which provide a yardstick to examine the accuracy of themethod. The cell size dependence of the solution accuracy is studiednumerically. The second example is a variable stiffness feedback controlproblem with tuning range saturation. The strategy proposed is able toprovide the switching curves in the phase plane. This result has notbeen obtained before.     

Recursive parameter identification of the dynamical models for bilinear state space systems

This paper investigates the recursive parameter and state estimation algorithms for a special class of nonlinear systems (i.e., bilinear state space systems). A state observer-based stochastic gradient (O-SG) algorithm is presented for the bilinear state space systems by using the gradient search. In order to improve the parameter estimation accuracy and the convergence rate of the O-SG algorithm, a state observer-based multi-innovation stochastic gradient algorithm and a state observer-based recursive least squares identification algorithm are derived by means of the multi-innovation theory. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed algorithms.     

胞映射搜索最优控制路径的新策略

在胞映射求解最优控制问题的现有方法的基础上，提出了一种利用胞映射搜索最优控制路径的新策略。该策略基于负步长逆向数值积分技巧，采用了一种新的搜索过程，使得求解问题的效率大为提高。同现有的方法相比，新策略节省了几倍，甚至十几倍的时间。而且计算结果可靠，有很强的工程应用价值，为求解高维的最优控制问题可能会提供一定的基础。     

基于多体动力学递推算法的电动汽车建模与仿真分析

运用多体动力学理论建立整车动力学模型已成为汽车动力学研究的重要手段。以大连理工大学汽车学院研制的某电动汽车为对象,运用多体动力学递推算法建立了包含前后悬架、车身及车轮在内的多体仿真分析模型,将前后悬架视为3个子系统,引入哑体,实现对各子系统的单独处理;同时完成了整车的快速建模与分析;将MATLAB整车仿真程序的结果与ADAMS仿真结果进行比对,二者吻合较好,验证了所建模型及求解算法的正确性。     

非线性动力学系统全局分析之外的胞映射方法新发展

在20世纪80年代由徐皆苏教授创建的胞映射方法一直受非线性科学界同仁的欢迎.近几年胞映射方法有了许多新的应用和算法.本文介绍了一些控制应用和算法的文献.另外,还介绍和讨论胞映射方法应用与多目标优化问题的研究和方法,多目标优化控制设计和非线性代数方程找零解.文中指出胞映射方法在井行计算的帮助下,现在可以解决中等高维空间中的各类问题,新的应用还会不断出现.     

Cell mapping methods-beyond global analysis of nonlinear dynamic systems

在20世纪80年代由徐皆苏教授创建的胞映射方法一直受非线性科学界同仁的欢迎.近几年胞映射方法有了许多新的应用和算法.本文介绍了一些控制应用和算法的文献.另外,还介绍和讨论胞映射方法应用与多目标优化问题的研究和方法,多目标优化控制设计和非线性代数方程找零解.文中指出胞映射方法在并行计算的帮助下,现在可以解决中等高维空间中的各类问题,新的应用还会不断出现.     

Filtering based recursive least squares algorithm for Hammerstein FIR-MA systems

We consider the parameter estimation problem for Hammerstein finite impulse response (FIR) systems. An estimated noise transfer function is used to filter the input–output data of the Hammerstein system. By combining the key-term separation principle and the filtering theory, a recursive least squares algorithm and a filtering-based recursive least squares algorithm are presented. The proposed filtering-based recursive least squares algorithm can estimate the noise and system models. The given examples confirm that the proposed algorithm can generate more accurate parameter estimates and has a higher computational efficiency than the recursive least squares algorithm.     

On the numerical solution of tracked vehicle dynamic equations

In this investigation, the solution of the nonlinear dynamic equations of the multibody tracked vehicle systems are obtained using different procedures. In the first technique, which is based on the augmented formulation that employes the absolute Cartesian coordinates and Lagrange multipliers, the generalized coordinate partitioning of the constraint Jacobian matrix is used to determine the independent coordinates and the associated independent differential equations. An iterative Newton-Raphson algorithm is used to solve the nonlinear constraint equations for the dependent variables. The numerical problems encountered when one set of independent coordinates is used during the simulation of large scale tracked vehicle systems are demonstrated and their relationship to the track dynamics is discussed. The second approach employed in this investigation is the velocity transformation technique. One of the versions of this technique is discussed in this paper and the numerical problems that arise from the use of inconsistent system of kinematic equations are reported. In the velocity transformation technique, the tracked vehicle system is assumed to consist of two kinematically decoupled subsystems; the first subsystem consists of the chassis, the rollers, the sprocket and the idler, while the second subsystem consists of the track which is represented as a closed kinematic chain that consists of rigid links connected by revolute joints. It is demonstrated that the use of one set of recursive equations leads to numerical difficulties because of the change in the track configuration. Singular configurations can be avoided by repeated changes in the recursive equations. The sensitivity of the predictor-corrector multistep numerical integration schemes to the method of formulating the state equations is demonstrated. The numerical results presented in this investigation are obtained using a planner tracked vehicle model that consists of fifty four rigid bodies.     

Quasi-momentum theorem in Riemann-Cartan space

The geometric formulation of motion of the first-order linear homogenous scleronomous nonholonomic system subjected to active forces is studied with the nonholonomic mapping theory. The quasi-Newton law, the quasi-momentum theorem, and the second kind Lagrange equation of dynamical systems are obtained in the Riemann-Cartan configuration spaces. By the nonholonomic mapping, a Euclidean configuration space or a Riemann configuration space of a dynamical system can be mapped into a Riemann-Cartan configuration space with torsion. The differential equations of motion of the dynamical system can be obtained in its Riemann-Cartan configuration space by the quasi-Newton law or the quasi-momentum theorem. For a constrained system, the differential equations of motion in its Riemann-Cartan configuration space may be simpler than the equations in its Euclidean configuration space or its Riemann configuration space. Therefore, the nonholonomic mapping theory can solve some constrained problems, which are difficult to be solved by the traditional analytical mechanics method. Three examples are given to illustrate the effectiveness of the method.     

Detection of coarse-grained unstable states of microscopic/stochastic systems: a timestepper-based iterative protocol

We address an iterative procedure that can be used to detect coarse-grained hyperbolic unstable equilibria (saddle points) of microscopic simulators when no equations at the macroscopic level are available. The scheme is based on the concept of coarse timestepping (Kevrekidis et al. in Commun. Math. Sci. 1(4):715–762, 2003) incorporating an adaptive mechanism based on the chord method allowing the location of coarse-grained saddle points directly. Ultimately, it can be used in a consecutive manner to trace the coarse-grained open-loop saddle-node bifurcation diagrams of complex dynamical systems and large-scale systems of ordinary and/or partial differential equations. We illustrate the procedure through two indicative examples including (i) a kinetic Monte Carlo simulation (kMC) of simple surface catalytic reactions and (ii) a simple agent-based model, a financial caricature which is used to simulate the dynamics of buying and selling of a large population of interacting individuals in the presence of mimesis. Both models exhibit coarse-grained regular turning points which give rise to branches of saddle points.     

Stochastic Optimal Control of Nonlinear Systems via Short-Time Gaussian Approximation and Cell Mapping

A novel strategy to obtain global solutions of stochasticoptimal control problems with fixed state terminal conditions and controlbounds is proposed in this paper. The solution is global in the sense that theoptimal control solutions for all the initial conditions in a region of thestate space are obtained. The method makes use of Bellman's principle ofoptimality, the cumulant neglect closure method and the short-time Gaussianapproximation. A Markov chain with a control dependent transition probabilitymatrix is built using the generalized cell mapping method. This allows toevaluate the transient and steady state response of the controlled system. Themethod is applied to several linear and nonlinear systems leading to excellentcontrol performances.