Search results for "Nonlinear"

On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control

2022

This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a template model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.

Numerical methods for a nonlinear impact model: A comparative study with closed-form corrections

2011

A physically based impact model-already known and exploited in the field of sound synthesis-is studied using both analytical tools and numerical simulations. It is shown that the Hamiltonian of a physical system composed of a mass impacting on a wall can be expressed analytically as a function of the mass velocity during contact. Moreover, an efficient and accurate approximation for the mass outbound velocity is presented, which allows to estimate the Hamiltonian at the end of the contact. Analytical results are then compared to numerical simulations obtained by discretizing the system with several numerical methods. It is shown that, for some regions of the parameter space, the trajectorie…

Multimode Representation of the Magnetic Field for the Analysis of the Nonlinear Behavior of Solar Activity as a Driver of Space Weather

2022

ISSP UL as the Center of Excellence is supported through the Framework Program for European universities Union Horizon 2020, H2020-WIDESPREAD-01-2016-2017-TeamingPhase2 under Grant Agreement No. 739508, CAMART2 project; Internal Foundation of University of Maryland.

Cooperative spectrum sensing schemes for future dynamic spectrum access infrastructures

2016

Inferring directionality of coupled dynamical systems using Gaussian process priors: Application on neurovascular systems

2022

Dynamical system theory has recently shown promise for uncovering causality and directionality in complex systems, particularly using the method of convergent cross mapping (CCM). In spite of its success in the literature, the presence of process noise raises concern about CCM's ability to uncover coupling direction. Furthermore, CCM's capacity to detect indirect causal links may be challenged in simulated unidrectionally coupled Rossler-Lorenz systems. To overcome these limitations, we propose a method that places a Gaussian process prior on a cross mapping function (named GP-CCM) to impose constraints on local state space neighborhood comparisons. Bayesian posterior likelihood and…

Stability of stochastic nonlinear systems with state-dependent switching

2013

In this paper, the problem of stability on stochastic systems with state-dependent switching is investigated. To analyze properties of the switched system by means of Itô’s formula and Dynkin’s formula, it is critical to show switching instants being stopping times. When the given active-region set can be replaced by its interior, the local solution of the switched system is constructed by defining a series of stopping times as switching instants, and the criteria on global existence and stability of solution are presented by Lyapunov approach. For the case where the active-region set can not be replaced by its interior, the switched systems do not necessarily have solutions, thereby quasi-…

The effect of defect location on coating fragmentation patterns under biaxial tension

2005

Fragmentation of a coating possessing orthogonal preferential crack propagation directions is modeled for equibiaxial tensile loading. Two plausible cracking scenarios are compared, caused by flaws randomly distributed over the area of the coating or along the coating fragment edges. The two fragmentation scenarios considered are shown to yield qualitatively different fragment patterns.

A Sub-Supersolution Approach for Robin Boundary Value Problems with Full Gradient Dependence

2020

The paper investigates a nonlinear elliptic problem with a Robin boundary condition, which exhibits a convection term with full dependence on the solution and its gradient. A sub- supersolution approach is developed for this type of problems. The main result establishes the existence of a solution enclosed in the ordered interval formed by a sub-supersolution. The result is applied to find positive solutions.

Regular solutions for nonlinear elliptic equations, with convective terms, in Orlicz spaces

2022

We establish some existence and regularity results to the Dirichlet problem, for a class of quasilinear elliptic equations involving a partial differential operator, depending on the gradient of the solution. Our results are formulated in the Orlicz-Sobolev spaces and under general growth conditions on the convection term. The sub- and supersolutions method is a key tool in the proof of the existence results.

Singular tori as attractors of four-wave-interaction systems

2009

We study the spatiotemporal dynamics of the Hamiltonian four-wave interaction in its counterpropagating configuration. The numerical simulations reveal that, under rather general conditions, the four-wave system exhibits a relaxation process toward a stationary state. Considering the Hamiltonian system associated to the stationary state, we provide a global geometrical view of all the stationary solutions of the system. The analysis reveals that the stationary state converges exponentially toward a pinched torus of the Hamiltonian system in the limit of an infinite nonlinear medium. The singular torus thus plays the role of an attractor for the spatiotemporal wave system. The topological pr…