An Estimation Method for Controlling Unstable Periodic Orbit Without Using Poincaré Map

Author(s):  
Satoshi Aoki ◽  
Takuji Kousaka ◽  
Shota Uchino ◽  
Daiki Hozumi ◽  
Hiroyuki Asahara
2015 ◽  
Vol 35 (8) ◽  
pp. 977-999 ◽  
Author(s):  
Kaveh Akbari Hamed ◽  
Brian G. Buss ◽  
Jessy W. Grizzle

This paper presents a systematic approach for the design of continuous-time controllers to robustly and exponentially stabilize periodic orbits of hybrid dynamical systems arising from bipedal walking. A parameterized family of continuous-time controllers is assumed so that (1) a periodic orbit is induced for the hybrid system, and (2) the orbit is invariant under the choice of controller parameters. Properties of the Poincaré map and its first- and second-order derivatives are used to translate the problem of exponential stabilization of the periodic orbit into a set of bilinear matrix inequalities (BMIs). A BMI optimization problem is then set up to tune the parameters of the continuous-time controller so that the Jacobian of the Poincaré map has its eigenvalues in the unit circle. It is also shown how robustness against uncertainty in the switching condition of the hybrid system can be incorporated into the design problem. The power of this approach is illustrated by finding robust and stabilizing continuous-time feedback laws for walking gaits of two underactuated 3D bipedal robots.


2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Qunhong Li ◽  
Limei Wei ◽  
Jieyan Tan ◽  
Jiezhen Xi

The double grazing periodic motions and bifurcations are investigated for a two-degree-of-freedom vibroimpact system with symmetrical rigid stops in this paper. From the initial condition and periodicity, existence of the double grazing periodic motion of the system is discussed. Using the existence condition derived, a set of parameter values is found that generates a double grazing periodic motion in the considered system. By extending the discontinuity mapping of one constraint surface to that of two constraint surfaces, the Poincaré map of the vibroimpact system is constructed in the proximity of the grazing point of a double grazing periodic orbit, which has a more complex form than that of the single grazing periodic orbit. The grazing bifurcation of the system is analyzed through the Poincaré map with clearance as a bifurcation parameter. Numerical simulations show that there is a continuous transition from the chaotic band to a period-1 periodic motion, which is confirmed by the numerical simulation of the original system.


2013 ◽  
Vol 2013 ◽  
pp. 1-11
Author(s):  
Yefeng He ◽  
Yepeng Xing

This paper is mainly concerned with the existence, stability, and bifurcations of periodic solutions of a certain scalar impulsive differential equations on Moebius stripe. Some sufficient conditions are obtained to ensure the existence and stability of one-side periodic orbit and two-side periodic orbit of impulsive differential equations on Moebius stripe by employing displacement functions. Furthermore, double-periodic bifurcation is also studied by using Poincaré map.


1992 ◽  
Vol 02 (01) ◽  
pp. 1-9 ◽  
Author(s):  
YOHANNES KETEMA

This paper is concerned with analyzing Melnikov’s method in terms of the flow generated by a vector field in contrast to the approach based on the Poincare map and giving a physical interpretation of the method. It is shown that the direct implication of a transverse crossing between the stable and unstable manifolds to a saddle point of the Poincare map is the existence of two distinct preserved homoclinic orbits of the continuous time system. The stability of these orbits and their role in the phenomenon of sensitive dependence on initial conditions is discussed and a physical example is given.


2007 ◽  
Vol 17 (03) ◽  
pp. 837-850 ◽  
Author(s):  
SHIGEKI TSUJI ◽  
TETSUSHI UETA ◽  
HIROSHI KAWAKAMI

The Bonhöffer–van der Pol (BVP) oscillator is a simple circuit implementation describing neuronal dynamics. Lately the diffusive coupling structure of neurons attracts much attention since the existence of the gap-junctional coupling has been confirmed in the brain. Such coupling is easily realized by linear resistors for the circuit implementation, however, there are not enough investigations about diffusively coupled BVP oscillators, even a couple of BVP oscillators. We have considered several types of coupling structure between two BVP oscillators, and discussed their dynamical behavior in preceding works. In this paper, we treat a simple structure called current coupling and study their dynamical properties by the bifurcation theory. We investigate various bifurcation phenomena by computing some bifurcation diagrams in two cases, symmetrically and asymmetrically coupled systems. In symmetrically coupled systems, although all internal elements of two oscillators are the same, we obtain in-phase, anti-phase solution and some chaotic attractors. Moreover, we show that two quasi-periodic solutions disappear simultaneously by the homoclinic bifurcation on the Poincaré map, and that a large quasi-periodic solution is generated by the coalescence of these quasi-periodic solutions, but it disappears by the heteroclinic bifurcation on the Poincaré map. In the other case, we confirm the existence a conspicuous chaotic attractor in the laboratory experiments.


1980 ◽  
Vol 47 (3) ◽  
pp. 645-651 ◽  
Author(s):  
L. A. Month ◽  
R. H. Rand

The stability of periodic motions (nonlinear normal modes) in a nonlinear two-degree-of-freedom Hamiltonian system is studied by deriving an approximation for the Poincare´ map via the Birkhoff-Gustavson canonical transofrmation. This method is presented as an alternative to the usual linearized stability analysis based on Floquet theory. An example is given for which the Floquet theory approach fails to predict stability but for which the Poincare´ map approach succeeds.


Author(s):  
Pål Liljebäck ◽  
Kristin Y. Pettersen ◽  
Øyvind Stavdahl ◽  
Jan Tommy Gravdahl

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