Boundary Control for a Rigid-Flexible Manipulator With Input Constraints Based on Ordinary Differential Equations–Partial Differential Equations Model

2019 ◽  
Vol 14 (9) ◽  
Author(s):  
Fangfei Cao ◽  
Jinkun Liu
Keyword(s):  
Partial Differential Equations ◽  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Boundary Control ◽  
Flexible Manipulator ◽  
Control Input ◽  
Input Constraints ◽  
Closed Loop System ◽  
Partial Differential ◽  
Tangent Function

In this paper, the dynamic model is established for the two-link rigid-flexible manipulator, which is represented by nonlinear ordinary differential equations–partial differential equations (ODEs–PDEs). Based on the nonlinear ODE–PDE model, the boundary control strategy is designed to drive the manipulator to follow a given trajectory and eliminate the vibration simultaneously. Considering actuators saturation, smooth hyperbolic tangent function is introduced for dealing with control input constraints problem. It has been rigorously proved that the nonlinear closed-loop system is asymptotically stable by using LaSalle's invariance principle. Simulation results show that the proposed controller is effective.

A Novel General and Robust Method Based on NAOP for Solving Nonlinear Ordinary Differential Equations and Partial Differential Equations by Cellular Neural Networks

2013 ◽  
Vol 135 (3) ◽  
Author(s):  
Jean Chamberlain Chedjou ◽  
Kyandoghere Kyamakya
Keyword(s):  
Neural Networks ◽  
Partial Differential Equations ◽  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Cellular Neural Networks ◽  
Nonlinear Ordinary Differential Equations ◽  
Van Der Pol ◽  
Partial Differential ◽  
Nonlinear Odes ◽  
First Order

This paper develops and validates through a series of presentable examples, a comprehensive high-precision, and ultrafast computing concept for solving nonlinear ordinary differential equations (ODEs) and partial differential equations (PDEs) with cellular neural networks (CNN). The core of this concept is a straightforward scheme that we call "nonlinear adaptive optimization (NAOP),” which is used for a precise template calculation for solving nonlinear ODEs and PDEs through CNN processors. One of the key contributions of this work is to demonstrate the possibility of transforming different types of nonlinearities displayed by various classical and well-known nonlinear equations (e.g., van der Pol-, Rayleigh-, Duffing-, Rössler-, Lorenz-, and Jerk-equations, just to name a few) unto first-order CNN elementary cells, and thereby enabling the easy derivation of corresponding CNN templates. Furthermore, in the case of PDE solving, the same concept also allows a mapping unto first-order CNN cells while considering one or even more nonlinear terms of the Taylor's series expansion generally used in the transformation of a PDE in a set of coupled nonlinear ODEs. Therefore, the concept of this paper does significantly contribute to the consolidation of CNN as a universal and ultrafast solver of nonlinear ODEs and/or PDEs. This clearly enables a CNN-based, real-time, ultraprecise, and low-cost computational engineering. As proof of concept, two examples of well-known ODEs are considered namely a second-order linear ODE and a second order nonlinear ODE of the van der Pol type. For each of these ODEs, the corresponding precise CNN templates are derived and are used to deduce the expected solutions. An implementation of the concept developed is possible even on embedded digital platforms (e.g., field programmable gate array (FPGA), digital signal processor (DSP), graphics processing unit (GPU), etc.). This opens a broad range of applications. Ongoing works (as outlook) are using NAOP for deriving precise templates for a selected set of practically interesting ODEs and PDEs equation models such as Lorenz-, Rössler-, Navier Stokes-, Schrödinger-, Maxwell-, etc.

scholarly journals Hidden and Not So Hidden Symmetries

2012 ◽  
Vol 2012 ◽  
pp. 1-11 ◽  
Author(s):  
P. G. L. Leach ◽  
K. S. Govinder ◽  
K. Andriopoulos
Keyword(s):  
Differential Equation ◽  
Ordinary Differential Equation ◽  
Partial Differential Equations ◽  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Recent Work ◽  
Nonlocal Symmetry ◽  
Partial Differential ◽  
Hidden Symmetries ◽  
Contact Symmetry

Hidden symmetries entered the literature in the late Eighties when it was observed that there could be gain of Lie point symmetry in the reduction of order of an ordinary differential equation. Subsequently the reverse process was also observed. Such symmetries were termed “hidden”. In each case the source of the “new” symmetry was a contact symmetry or a nonlocal symmetry, that is, a symmetry with one or more of the coefficient functions containing an integral. Recent work by Abraham-Shrauner and Govinder (2006) on the reduction of partial differential equations demonstrates that it is possible for these “hidden” symmetries to have a point origin. In this paper we show that the same phenomenon can be observed in the reduction of ordinary differential equations and in a sense loosen the interpretation of hidden symmetries.

scholarly journals On classical symmetries of ordinary differential equations related to stationary integrable partial differential equations

2021 ◽  
Vol 41 (5) ◽  
pp. 685-699
Author(s):  
Ivan Tsyfra
Keyword(s):  
Differential Equation ◽  
Ordinary Differential Equation ◽  
Partial Differential Equations ◽  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Theoretical Method ◽  
Partial Differential ◽  
Classical Symmetry ◽  
Kdv Equations ◽  
Classical Symmetries

We study the relationship between the solutions of stationary integrable partial and ordinary differential equations and coefficients of the second-order ordinary differential equations invariant with respect to one-parameter Lie group. The classical symmetry method is applied. We prove that if the coefficients of ordinary differential equation satisfy the stationary integrable partial differential equation with two independent variables then the ordinary differential equation is integrable by quadratures. If special solutions of integrable partial differential equations are chosen then the coefficients satisfy the stationary KdV equations. It was shown that the Ermakov equation belong to a class of these equations. In the framework of the approach we obtained the similar results for generalized Riccati equations. By using operator of invariant differentiation we describe a class of higher order ordinary differential equations for which the group-theoretical method enables us to reduce the order of ordinary differential equation.

Some Invariant Solutions of Two-Dimensional Elastodynamics in Linear Homogeneous Isotropic Materials

2013 ◽  
Vol 5 (2) ◽  
pp. 212-221
Author(s):  
Houguo Li ◽  
Kefu Huang
Keyword(s):  
Partial Differential Equations ◽  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Theoretical Method ◽  
Two Dimensional ◽  
Invariant Solutions ◽  
Partial Differential ◽  
Isotropic Materials ◽  
Group Theoretical Method ◽  
Infinitesimal Operators

AbstractInvariant solutions of two-dimensional elastodynamics in linear homogeneous isotropic materials are considered via the group theoretical method. The second order partial differential equations of elastodynamics are reduced to ordinary differential equations under the infinitesimal operators. Three invariant solutions are constructed. Their graphical figures are presented and physical meanings are elucidated in some cases.

Lie Group Analysis for a Mixed Convective Flow and Heat Mass Transfer Over a Permeable Stretching Surface with Soret and Dufour Effects

2013 ◽  
Vol 30 (1) ◽  
pp. 67-75 ◽  
Author(s):  
Reda G. Abdel-Rahman ◽  
Ahmed M. Megahed
Keyword(s):  
Mass Transfer ◽  
Partial Differential Equations ◽  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Lie Group ◽  
Group Analysis ◽  
Group Method ◽  
Stretching Surface ◽  
Partial Differential ◽  
Soret And Dufour Effects

ABSTRACTThe Lie group transformation method is applied for solving the problem of mixed convection flow with mass transfer over a permeable stretching surface with Soret and Dufour effects. The application of Lie group method reduces the number of independent variables by one and consequently the system of governing partial differential equations reduces to a system of ordinary differential equations with appropriate boundary conditions. Further, the reduced non-linear ordinary differential equations are solved numerically by using the shooting method. The effects of various parameters governing the flow and heat transfer are shown through graphs and discussed. Our aim is to detect new similarity variables which transform our system of partial differential equations to a system of ordinary differential equations. In this work a special attention is given to investigate the effect of the Soret and Dufour numbers on the velocity, temperature and concentration fields above the sheet.

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