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 equationnonsmooth systeminverted pendulumdiscontinuity-induced bifurcation

Mathematics Subject Classification ID

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

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.

Recommendations

• Complex balancing motions of an inverted pendulum subject to delayed feedback control
• Dynamics of an inverted pendulum subject to delayed control
• Stability and Hopf bifurcation in an inverted pendulum with delayed feedback control
• The time-delayed inverted pendulum: implications for human balance control
• Semidiscretization for time-delayed neural balance control

Cites work

• scientific article; zbMATH DE number 2129143 (Why is no real title available?)
• scientific article; zbMATH DE number 41285 (Why is no real title available?)
• scientific article; zbMATH DE number 5252364 (Why is no real title available?)
• Applied Delay Differential Equations
• Balancing with positive feedback: the case for discontinuous control
• Balancing with reflex delay.
• Bifurcation Sets of Continuous Piecewise Linear Systems with Two Zones
• Bifurcation analysis of an inverted pendulum with delayed feedback control near a triple-zero eigenvalue singularity
• Bifurcations in nonlinear discontinuous systems
• Complex balancing motions of an inverted pendulum subject to delayed feedback control
• Complex dynamics in a hysteretic relay feedback system with delay
• Delay equations. Functional-, complex-, and nonlinear analysis
• Differential equations with discontinuous right-hand side
• Dynamics of an Inverted Pendulum with Delayed Feedback Control
• Dynamics of delayed relay systems
• Dynamics of symmetric dynamical systems with delayed switching
• Embedded robotics. Mobile robot design and applications with embedded systems
• Extending the permissible control loop latency for the controlled inverted pendulum
• Introduction to functional differential equations
• Piecewise-linear models of genetic regulatory networks: equilibria and their stability
• Piecewise-smooth dynamical systems. Theory and applications
• Robotics
• Stability and Stabilizability of Switched Linear Systems: A Survey of Recent Results
• Stability tests and stabilization for piecewise linear systems based on poles and zeros of subsystems
• Switching in systems and control
• The continuous matching of two stable linear systems can be unstable
• The stability boundary of synchronized states in globally coupled dynamical systems
• The time-delayed inverted pendulum: implications for human balance control

Cited in

(15)

• The time-delayed inverted pendulum: implications for human balance control
• Twenty Hopf-like bifurcations in piecewise-smooth dynamical systems
• Intermittent control with ankle, hip, and mixed strategies during quiet standing: a theoretical proposal based on a double inverted pendulum model
• The dynamics and event-collision bifurcations in switched control systems with delayed switching
• The influence of parametric and external noise in act-and-wait control with delayed feedback
• Balancing a wheeled inverted pendulum with a single accelerometer in the presence of time delay
• A novel route to a Hopf bifurcation scenario in switched systems with dead-zone
• Beyond the Bristol book: advances and perspectives in non-smooth dynamics and applications
• Periodic solutions to perturbed nonlinear oscillators with memory
• Dynamics of an inverted pendulum subject to delayed control
• Balancing with distributed reflex delay
• A compendium of Hopf-like bifurcations in piecewise-smooth dynamical systems
• Complex balancing motions of an inverted pendulum subject to delayed feedback control
• scientific article; zbMATH DE number 1911319 (Why is no real title available?)
• scientific article; zbMATH DE number 2109962 (Why is no real title available?)

Describes a project that uses

Uses Software

• Maple

This page was built for publication: Dynamics of simple balancing models with time-delayed switching feedback control

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q453736)