Event-selected vector field discontinuities yield piecewise-differentiable flows

DOI10.1137/15M1016588MaRDI QIDQ3188140zbMATH OpenOpenAlexFDO

Authors Samuel A. Burden, D. E. Koditschek, Shai Revzen, S. Shankar Sastry

Publication date 17 August 2016

Published in SIAM Journal on Applied Dynamical Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1407.1775

zbMATH Keywords

animal locomotionbiomechanicsdifferential equation with discontinuous right-hand sidehybrid dynamical systemneural biologynonsmooth dynamical systemroboticssaltation matrix

Mathematics Subject Classification ID

Initial value problems, existence, uniqueness, continuous dependence and continuation of solutions to ordinary differential equations (34A12) Discontinuous ordinary differential equations (34A36) Ordinary differential equations with impulses (34A37) Hybrid systems of ordinary differential equations (34A38) Nonlinear oscillations and coupled oscillators for ordinary differential equations (34C15) Dynamical systems in biology (37N25) Biomechanics (92C10) Neural biology (92C20)

Abstract: We study a class of discontinuous vector fields brought to our attention by multi-legged animal locomotion. Such vector fields arise not only in biomechanics, but also in robotics, neuroscience, and electrical engineering, to name a few domains of application. Under the conditions that (i) the vector field's discontinuities are locally confined to a finite number of smooth submanifolds and (ii) the vector field is transverse to these surfaces in an appropriate sense, we show that the vector field yields a well-defined flow that is Lipschitz continuous and piecewise-differentiable. This implies that although the flow is not classically differentiable, nevertheless it admits a first-order approximation (known as a Bouligand derivative) that is piecewise-linear and continuous at every point. We exploit this first-order approximation to infer existence of piecewise-differentiable impact maps (including Poincar'{e} maps for periodic orbits), show the flow is locally conjugate (via a piecewise-differentiable homeomorphism) to a flowbox, and assess the effect of perturbations (both infinitesimal and non-infinitesimal) on the flow. We use these results to give a sufficient condition for the exponential stability of a periodic orbit passing through a point of multiply intersecting events, and apply the theory in illustrative examples to demonstrate synchronization in abstract first- and second-order phase oscillator models.

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