Delay-induced bifurcations in collocated position control of an elastic arm

The interference of the elasticity of a single robotic arm and the unavoidable time delay of its position control is analysed from nonlinear vibrations viewpoint. The simplified mechanical model of two blocks and a connecting spring considers the first vibration mode of the arm, while the collocated proportional-derivative (PD) control uses the state of the first block only and actuates also there. It is assumed that the relevant nonlinearity is the saturation of the delayed control force. The linear stability analysis proves that stabilizable and non-stabilizable parameter regions follow each other periodically even for large spring stiffnesses and for tiny time delays. Hopf bifurcation calculation is carried out after an infinite-dimensional centre manifold reduction, and closed-form algebraic expressions are given for the amplitudes of the emerging oscillations. These results support the experimental tuning of the control gains since the parameters of the arising and often unexpected self-excited vibrations can serve as a guide for this practical procedure.

An Existence Theory for Gravity–Capillary Solitary Water Waves

In the applied mathematics literature solitary gravity–capillary water waves are modelled by approximating the standard governing equations for water waves by a Korteweg-de Vries equation (for strong surface tension) or a nonlinear Schrödinger equation (for weak surface tension). These formal arguments have been justified by sophisticated techniques such as spatial dynamics and centre-manifold reduction methods on the one hand and variational methods on the other. This article presents a complete, self-contained account of an alternative, simpler approach in which one works directly with the Zakharov–Craig–Sulem formulation of the water-wave problem and uses only rudimentary fixed-point arguments and Fourier analysis.

Pattern formation in a slowly flattening spherical cap: delayed bifurcation

This article describes a reduction of a non-autonomous Brusselator reaction–diffusion system of partial differential equations on a spherical cap with time-dependent curvature using the method of centre manifold reduction. Parameter values are chosen such that the change in curvature would cross critical values which would change the stability of the patternless solution in the constant domain case. The evolving domain functions and quasi-patternless solutions are derived as well as a method to obtain this non-autonomous normal form. The coefficients of such a normal form are computed and the reduction solutions are compared to numerical solutions.

On the concept of dynamical reduction: the case of coupled oscillators

An overview is given on two representative methods of dynamical reduction known as centre-manifold reduction and phase reduction . These theories are presented in a somewhat more unified fashion than the theories in the past. The target systems of reduction are coupled limit-cycle oscillators. Particular emphasis is placed on the remarkable structural similarity existing between these theories. While the two basic principles, i.e. (i) reduction of dynamical degrees of freedom and (ii) transformation of reduced evolution equation to a canonical form, are shared commonly by reduction methods in general, it is shown how these principles are incorporated into the above two reduction theories in a coherent manner. Regarding the phase reduction, a new formulation of perturbative expansion is presented for discrete populations of oscillators. The style of description is intended to be so informal that one may digest, without being bothered with technicalities, what has been done after all under the word reduction . This article is part of the theme issue ‘Coupling functions: dynamical interaction mechanisms in the physical, biological and social sciences’.

Periodic waves of the Lugiato–Lefever equation at the onset of Turing instability

We study the existence and the stability of periodic steady waves for a nonlinear model, the Lugiato–Lefever equation, arising in optics. Starting from a detailed description of the stability properties of constant solutions, we then focus on the periodic steady waves which bifurcate at the onset of Turing instability. Using a centre manifold reduction, we analyse these Turing bifurcations, and prove the existence of periodic steady waves. This approach also allows us to conclude on the nonlinear orbital stability of these waves for co-periodic perturbations, i.e. for periodic perturbations which have the same period as the wave. This stability result is completed by a spectral stability result for general bounded perturbations. In particular, this spectral analysis shows that instabilities are always due to co-periodic perturbations. This article is part of the theme issue ‘Stability of nonlinear waves and patterns and related topics’.

On the analysis of the double Hopf bifurcation in machining processes via centre manifold reduction

The single-degree-of-freedom model of orthogonal cutting is investigated to study machine tool vibrations in the vicinity of a double Hopf bifurcation point. Centre manifold reduction and normal form calculations are performed to investigate the long-term dynamics of the cutting process. The normal form of the four-dimensional centre subsystem is derived analytically, and the possible topologies in the infinite-dimensional phase space of the system are revealed. It is shown that bistable parameter regions exist where unstable periodic and, in certain cases, unstable quasi-periodic motions coexist with the equilibrium. Taking into account the non-smoothness caused by loss of contact between the tool and the workpiece, the boundary of the bistable region is also derived analytically. The results are verified by numerical continuation. The possibility of (transient) chaotic motions in the global non-smooth dynamics is shown.

Centre-manifold reduction of bifurcating flows

In this paper we describe a general and systematic approach to the centre-manifold reduction and normal form computation of flows undergoing complicated bifurcations. The proposed algorithm is based on the theoretical work of Coullet & Spiegel (SIAM J. Appl. Maths, vol. 43(4), 1983, pp. 776–821) and can be used to approximate centre manifolds of arbitrary dimension for large-scale dynamical systems depending on a scalar parameter. Compared with the classical multiple-scale technique frequently employed in hydrodynamic stability, the proposed method can be coded in a rather general way without any need to resort to the introduction and tuning of additional time scales. The method is applied to the dynamical system described by the incompressible Navier–Stokes equations showing that high-order, weakly nonlinear models of bifurcating flows can be derived automatically, even for multiple codimension bifurcations. We first validate the method on the primary Hopf bifurcation of the flow past a circular cylinder and after we illustrate its application to a codimension-two bifurcation arising in the flow past two side-by-side circular cylinders.

Grain boundaries in the Swift–Hohenberg equation

We study the existence of grain boundaries in the Swift–Hohenberg equation. The analysis relies on a spatial dynamics formulation of the existence problem and a centre-manifold reduction. In this setting, the grain boundaries are found as heteroclinic orbits of a reduced system of ordinary differential equations in normal form. We show persistence of the leading-order approximation using transversality induced by wavenumber selection.