Dynamics of simple balancing models with time-delayed switching feedback control

DOI10.1007/S00332-011-9111-4MaRDI QIDQ453736zbMATH OpenOpenAlexFDO

Authors Rachel Kuske, Yue-Xian Li, D. J. W. Simpson

Publication date 27 September 2012

Published in Journal of Nonlinear Science (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1104.1446

zbMATH Keywords

delay differential equationdiscontinuity-induced bifurcationinverted pendulumnonsmooth system

Mathematics Subject Classification ID

Stabilization of solutions to ordinary differential equations (34H15) Bifurcations of limit cycles and periodic orbits in dynamical systems (37G15) Dynamical aspects of attractors and their bifurcations (37G35) Control/observation systems governed by ordinary differential equations (93C15)

Abstract: Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which the control is turned off when the pendulum is located within certain regions of phase space. Without applying a small angle approximation for deviations about the vertical position, we see structurally stable periodic orbits which may be attracting or repelling. Due to the nonsmooth nature of the control, these periodic orbits are born in various discontinuity-induced bifurcations. Also we show that a coincidence of switching events can produce complicated periodic and aperiodic solutions.

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Cited in

(15)

• A compendium of Hopf-like bifurcations in piecewise-smooth dynamical systems
• A novel route to a Hopf bifurcation scenario in switched systems with dead-zone
• Complex balancing motions of an inverted pendulum subject to delayed feedback control
• The dynamics and event-collision bifurcations in switched control systems with delayed switching
• Twenty Hopf-like bifurcations in piecewise-smooth dynamical systems
• Periodic solutions to perturbed nonlinear oscillators with memory
• Intermittent control with ankle, hip, and mixed strategies during quiet standing: a theoretical proposal based on a double inverted pendulum model
• Balancing with distributed reflex delay
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• Beyond the Bristol book: advances and perspectives in non-smooth dynamics and applications

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