Showing papers in "Nonlinear Dynamics in 2004"

A General Formulation and Solution Scheme for Fractional Optimal Control Problems

Abstract: Accurate modeling of many dynamic systems leads to a set of Fractional Differential Equations (FDEs). This paper presents a general formulation and a solution scheme for a class of Fractional Optimal Control Problems (FOCPs) for those systems. The fractional derivative is described in the Riemann–Liouville sense. The performance index of a FOCP is considered as a function of both the state and the control variables, and the dynamic constraints are expressed by a set of FDEs. The Calculus of Variations, the Lagrange multiplier, and the formula for fractional integration by parts are used to obtain Euler–Lagrange equations for the FOCP. The formulation presented and the resulting equations are very similar to those that appear in the classical optimal control theory. Thus, the present formulation essentially extends the classical control theory to fractional dynamic system. The formulation is used to derive the control equations for a quadratic linear fractional control problem. An approach similar to a variational virtual work coupled with the Lagrange multiplier technique is presented to find the approximate numerical solution of the resulting equations. Numerical solutions for two fractional systems, a time-invariant and a time-varying, are presented to demonstrate the feasibility of the method. It is shown that (1) the solutions converge as the number of approximating terms increase, and (2) the solutions approach to classical solutions as the order of the fractional derivatives approach to 1. The formulation presented is simple and can be extended to other FOCPs. It is hoped that the simplicity of this formulation will initiate a new interest in the area of optimal control of fractional systems.

Continued Fraction Expansion Approaches to Discretizing Fractional Order Derivatives—an Expository Review

Abstract: This paper attempts to present an expository review of continued fraction expansion (CFE) based discretization schemes for fractional order differentiators defined in continuous time domain. The schemes reviewed are limited to infinite impulse response (IIR) type generating functions of first and second orders, although high-order IIR type generating functions are possible. For the first-order IIR case, the widely used Tustin operator and Al-Alaoui operator are considered. For the second order IIR case, the generating function is obtained by the stable inversion of the weighted sum of Simpson integration formula and the trapezoidal integration formula, which includes many previous discretization schemes as special cases. Numerical examples and sample codes are included for illustrations.

Tuning of PID Controllers Based on Bode's Ideal Transfer Function

Abstract: This paper presents a new strategy for tuning PID controllers based on a fractional reference model. The model is represented as an ideal closed-loop system whose open-loop is given by the Bode’s ideal transfer function. The PID controller parameters are determined by the minimization of the integral square error (ISE) between the time responses of the desired fractional reference model and of the system with the PID controller. The resulting closed-loop system (with the PID controller) has the desirable feature of being robust to gain variations with step responses exhibiting an iso-damping property. Several examples are presented that demonstrate the effectiveness and validity of the proposed methodology.

On Fractional PIλ Controllers: Some Tuning Rules for Robustness to Plant Uncertainties

Abstract: The objective of this work is to find out optimum settings for a fractional PIλ controller in order to fulfill three different robustness specifications of design for the compensated system, taking advantage of the fractional order, λ. Since this fractional controller has one parameter more than the conventional PI controller, one more specification can be fulfilled, improving the performance of the system and making it more robust to plant uncertainties, such as gain and time constant changes. For the tuning of the controller an iterative optimization method has been used, based on a nonlinear function minimization. Two real examples of application are presented and simulation results are shown to illustrate the effectiveness of this kind of unconventional controllers.

Random Vibrations with Impacts: A Review

Abstract: Analytical methods and specific results are presented for random vibrations of systems with lumped parameters and “classical” impacts whereby finite relations between impact/rebound velocities are imposed at the impact instants that are not known in advance but rather governed by the equations of motion. Emphasis is placed on the procedures using special piecewise-linear transformation of state variables that exclude the velocity jumps at impacts or makes them small if impact losses are present. In the former case, exact analyses for stationary probability densities of the response to white-noise excitation are possible, whereas the stochastic averaging method is applied in the latter case. Furthermore, the special case of an isochronous system permits a more profound response analysis, such as predicting the spectral density of the response or subharmonic response to narrow-band excitation. The method of direct energy balance is also illustrated, based on direct application of the stochastic differential equation calculus between impacts. Certain two-degree-of-freedom impacting systems are considered, with application to moored systems, as used in ocean engineering.

Identification of Fractional Systems Using an Output-Error Technique

Abstract: An original method for modeling, simulation and identification of fractional systems in the time domain is presented in this article. The basic idea is to model the fractional system by a state-space representation, where conventional integration is replaced by a fractional one with the help of a non-integer integrator. This operator is itself approximated by a N-dimensional system composed of an integrator and of a phase-lead filter. An output-error technique is used in order to estimate the parameters of the model, including the fractional order N. Simulations exhibit the properties of the identification algorithm. Finally, this methodology is applied to the modeling of the dynamics of a real heat transfer system.

Bifurcations of Nonlinear Normal Modes of Linear Oscillator with Strongly Nonlinear Damped Attachment

Abstract: Linear oscillator coupled to damped strongly nonlinear attachment with small mass is considered as a model design for nonlinear energy sink (NES). Damped nonlinear normal modes of the system are considered for the case of 1:1 resonance by combining the invariant manifold approach and multiple scales expansion. Special asymptotical structure of the model allows a clear distinction between three time scales. These time scales correspond to fast vibrations, evolution of the system toward the nonlinear normal mode and time evolution of the invariant manifold, respectively. Time evolution of the invariant manifold may be accompanied by bifurcations, depending on the exact potential of the nonlinear spring and value of the damping coefficient. Passage of the invariant manifold through bifurcations may bring about destruction of the resonance regime and essential gain in the energy dissipation rate.

Numerical Simulations of Fractional Systems: An Overview of Existing Methods and Improvements

Abstract: An overview of the main simulation methods of fractional systems is presented. Based on Oustaloup’s recursive poles and zeros approximation of a fractional integrator in a frequency band, some improvements are proposed. They take into account boundary effects around outer frequency limits and simplify the synthesis of a rational approximation by eliminating arbitrarily chosen parameters.

Cargo Pendulation Reduction of Ship-Mounted Cranes

Abstract: Ship-mounted cranes are used to transfer cargo from large container ships to smaller lighters when deep-water ports are not available. The wave-induced motion of the crane ship can produce large pendulations of the cargo being hoisted and cause operations to be suspended. In this work, we show that it is possible to reduce these pendulations significantly by controlling the slew and luff angles of the boom. Such a control can be achieved with the heavy equipment that is already part of the crane so that retrofitting existing cranes would require a small effort. Moreover, the control is superimposed on the commands of the operator transparently. The successful control strategy is based on delayed feedback of the angles of the cargo-hoisting cable in and out of the plane of the boom and crane tower. Its effectiveness is demonstrated in a fully nonlinear three-dimensional computer simulation and in an experiment with a 1/24th-scale model of a T-ACS (The Auxiliary Crane Ship) crane mounted on a platform moving with three degrees of freedom. The results demonstrate that the pendulations can be significantly reduced, and therefore the range of sea conditions in which cargo-transfer operations can take place can be greatly expanded.

Fractional Order Control of a Hexapod Robot

Abstract: This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The walking performance is analysed through the Nyquist stability criterion and several indices that reflect the system dynamical properties. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.

Efficient Evaluation of the Elastic Forces and the Jacobian in the Absolute Nodal Coordinate Formulation

Abstract: This paper develops a new procedure for evaluating the elastic forces, the elastic energy and the jacobian of the elastic forces in the absolute nodal coordinate formulation. For this procedure, it is fundamental to use some invariant sparse matrices that are integrated in advance and have the property of transforming the evaluation of the elastic forces in a matrix multiplication process. The use of the invariant matrices avoids the integration over the volume of the element for every evaluation of the elastic forces. Great advantages can be achieved from these invariant matrices when evaluating the elastic energy and calculating the jacobian of the elastic forces as well. The exact expression of the jacobian of the differential system of equations of motion is obtained, and some advantages of using the absolute nodal coordinate formulation are pointed out. Numerical results show that there is important time saving as a result of the use of the invariant matrices.

Studies of Store-Induced Limit-Cycle Oscillations Using a Model with Full System Nonlinearities

Abstract: The authors investigate limit-cycle oscillations of a wing/store configuration. Unlike typical aeroelastic studies that are based upon a linearized form of the governing equations, herein full system nonlinearities are retained, and include transonic flow effects, coupled responses from the structure, and store-related kinematics and dynamics. Unsteady aerodynamic loads are modeled with the equations from transonic small disturbance theory. The structural dynamics for the cantilevered wing are modeled by the nonlinear equations of motion for a beam. The effects of general store-placement are modeled by the nonlinear equations of motion related to the position-induced nonlinear kinematics. Chordwise deformations of the wing surface, as well as pylon and store flexibility, are assumed negligible. Nonlinear responses are studied by examining bifurcation and related response characteristics using direct simulation. Particular attention is given to cases for which large-time, time-dependent behavior is dependent on initial conditions, as observed for some configurations in flight test. Comparisons of results in which selective nonlinearities are excluded indicate that the accurate prediction of nonlinear responses such as limit cycle oscillations (LCOs) may depend upon consideration of all nonlinearities related to the full system.

On the Nonlinear Dynamics of a Buckled Beam Subjected to a Primary-Resonance Excitation

Abstract: We investigate the nonlinear response of a clamped-clamped buckled beamto a primary-resonance excitation of its first vibration mode. The beamis subjected to an axial force beyond the critical load of the firstbuckling mode and a transverse harmonic excitation. We solve thenonlinear buckling problem to determine the buckled configurations as afunction of the applied axial load. A Galerkin approximation is used todiscretize the nonlinear partial-differential equation governing themotion of the beam about its buckled configuration and obtain a set ofnonlinearly coupled ordinary-differential equations governing the timeevolution of the response. Single- and multi-mode Galerkinapproximations are used. We found out that using a single-modeapproximation leads to quantitative and qualitative errors in the staticand dynamic behaviors. To investigate the global dynamics, we use ashooting method to integrate the discretized equations and obtainperiodic orbits. The stability and bifurcations of the periodic orbitsare investigated using Floquet theory. The obtained theoretical resultsare in good qualitative agreement with the experimental results obtainedby Kreider and Nayfeh (Nonlinear Dynamics 15, 1998, 155–177.

Nonlinear and Robust Control Schemes for Offshore Steel Jacket Platforms

Abstract: This paper presents two control schemes to control the dynamicresponse of an offshore steel jacket platform due to wave-inducedforces. The objective of the controllers is to greatly reduce theinternal system oscillations and to obtain a smooth response ofthe steel jacket platform when subjected to nonlinear self-excitedhydrodynamic forces. The first controller is a nonlinearcontroller whose design is based on Lyapunov theory. The secondcontroller is a robust state feedback linear controller whosedesign is based on an optimal control approach. Both controlschemes guarantee the asymptotic stability of the system. Thetheoretical developments are illustrated through simulationresults of the proposed control schemes. Furthermore, theperformance of the offshore steel jacket platform is presentedwhen a direct velocity feedback controller is applied to thesystem. It is found that the performance of the system with theproposed controllers is better than the performance of the systemwith the direct velocity feedback controller.

The Secondary Bifurcation of an Aeroelastic Airfoil Motion: Effect of High Harmonics

Abstract: The nonlinear dynamical response of a two-degree-of-freedom aeroelastic airfoil motion with cubic restoring forces is investigated. A secondary bifurcation after the primary Hopf (flutter) bifurcation is detected for a cubic hard spring in the pitch degree-of-freedom. Furthermore, there is a hysteresis in the secondary bifurcation: starting from different initial conditions the motion may jump from one limit cycle to another at different fluid flow velocities. A high-order harmonic balance method is employed to investigate the possible bifurcation branches. Furthermore, a numerical time simulation procedure is used to confirm the stable and unstable bifurcation branches.

Application of Fractional Derivatives in Thermal Analysis of Disk Brakes

Abstract: This paper presents a Fractional Derivative Approach for thermal analysis of disk brakes. In this research, the problem is idealized as one-dimensional. The formulation developed contains fractional semi integral and derivative expressions, which provide an easy approach to compute friction surface temperature and heat flux as functions of time. Given the heat flux, the formulation provides a means to compute the surface temperature, and given the surface temperature, it provides a means to compute surface heat flux. A least square method is presented to smooth out the temperature curve and eliminate/reduce the effect of statistical variations in temperature due to measurement errors. It is shown that the integer power series approach to consider simple polynomials for least square purposes can lead to significant error. In contrast, the polynomials considered here contain fractional power terms. The formulation is extended to account for convective heat loss from the side surfaces. Using a simulated experiment, it is also shown that the present formulation predicts accurate values for the surface heat flux. Results of this study compare well with analytical and experimental results.

Averaging Oscillations with Small Fractional Damping and Delayed Terms

Abstract: We demonstrate the method of averaging for conservative oscillators which may be strongly nonlinear, under small perturbations including delayed and/or fractional derivative terms. The unperturbed systems studied here include a harmonic oscillator, a strongly nonlinear oscillator with a cubic nonlinearity, as well as one with a nonanalytic nonlinearity. For the latter two cases, we use an approximate realization of the asymptotic method of averaging, based on harmonic balance. The averaged dynamics closely match the full numerical solutions in all cases, verifying the validity of the averaging procedure as well as the harmonic balance approximations therein. Moreover, interesting dynamics is uncovered in the strongly nonlinear case with small delayed terms, where arbitrarily many stable and unstable limit cycles can coexist, and infinitely many simultaneous saddle-node bifurcations can occur.

Application of a dynamic vibration absorber to a piecewise linear beam system

Abstract: This paper deals with the application of a linear dynamic vibration absorber (DVA) to a piecewise linear beam system to suppress its first harmonic resonance. Both the undamped and the damped DVAs are considered. Results of experiments and simulations are presented and show good resemblance. It appears that the undamped DVA is able to suppress the harmonic resonance, while simultaneously many subharmonics appear. The damped DVA suppresses the first harmonic resonance as well as its super- and subharmonics.

Fractional Order Disturbance Observer for Robust Vibration Suppression

Abstract: For the first time, the fractional order disturbance observer (FO-DOB) is proposed for vibration suppression applications such as hard disk drive servo control. It has been discovered in a recently published US patent application (US20010036026) that there is a tradeoff between phase margin loss and strength of the low frequency vibration suppression. Given the required cutoff frequency of the low pass filter, also known as the Q-filter, it turns out that the relative degree of the Q-filter is the major tuning knob for this tradeoff. The solution in US20010036026 was based on an integer order Q-filter with a variable relative degree. This actually motivated the use of a fractional order Q-filter. The fractional order disturbance observer is based on the fractional order Q-filter. The implementation issue is also discussed. The nice point of this paper is that the traditional DOB is extended to the fractional order DOB with the advantage that the FO-DOB design is now no longer conservative nor aggressive, i.e., given the cutoff frequency and the desired phase margin, we can uniquely determine the fractional order of the low pass filter.

Attractivity of Equilibrium Sets of Systems with Dry Friction

Abstract: The dynamics of mechanical systems with dry friction elements, modelled by set-valued force laws, can be described by differential inclusions. An equilibrium set of such a differential inclusion corresponds to a stationary mode for which the friction elements are sticking. The attractivity properties of the equilibrium set are of major importance for the overall dynamic behaviour of this type of systems. Conditions for the attractivity of the equilibrium set of MDOF mechanical systems with multiple friction elements are presented. These results are obtained by application of a generalisation of LaSalle's principle for differential inclusions of Filippov-type. Besides passive systems, also systems with negative viscous damping are considered. For such systems, only local attractivity of the equilibrium set can be assured under certain conditions. Moreover, an estimate for the region of attraction is given for these cases. The effectiveness of the results is illustrated by means of both 1DOF and MDOF examples.

Nonlinear Responses of Buckled Beams to Subharmonic-Resonance Excitations

Abstract: We investigated theoretically and experimentally the nonlinear responseof a clamped-clamped buckled beam to a subharmonic resonance of orderone-half of its first vibration mode. We used a multi-mode Galerkindiscretization to reduce the governing nonlinear partial-differentialequation in space and time into a set of nonlinearly coupledordinary-differential equations in time only. We solved the discretizedequations using the method of multiple scales to obtain a second-orderapproximate solution, including the modulation equations governing itsamplitude and phase, the effective nonlinearity, and the effectiveforcing. To investigate the large-amplitude dynamics, we numericallyintegrated the discretized equations using a shooting method to computeperiodic orbits and used Floquet theory to investigate their stabilityand bifurcations. We obtained interesting dynamics, such as phase-lockedand quasiperiodic motions, resulting from a Hopf bifurcation,snapthrough motions, and a sequence of period-doubling bifurcationsleading to chaos. Some of these nonlinear phenomena, such as Hopfbifurcation, cannot be predicted using a single-mode Galerkindiscretization. We carried out an experiment and obtained results ingood qualitative agreement with the theoretical results.

Lagrangian approach to evolution equations: symmetries and conservation laws.

Abstract: We show that one can apply a Lagrangian approach to certain evolution equations by considering them together with their associated equations. Consequently, one can employ Noether's theorem and derive conservation laws from symmetries of coupled systems of evolution equations. We discuss in detail the linear and non-linear heat equations as well as the Burgers equation and obtain new non-local conservation laws for the non-linear heat and the Burgers equations by extending their symmetries to the associated equations. We also provide Lagrangians for non-linear Schrodinger and Korteweg—de Vries type systems.

Robust Speed Control of a Low Damped Electromechanical System Based on CRONE Control: Application to a Four Mass Experimental Test Bench

Abstract: Robust speed control of a low damped electromechanical system with backlash is studied, controlled load angular speed being not measured. The proposed control strategy combines a Luenberger observer (load angular speed and load torque disturbance estimations) and a robust CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.

Fractional calculus description of non-linear viscoelastic behaviour of polymers

Abstract: In recent decades, constitutive equations for polymers involving fractional calculus have been the object of ever increasing interest, due to their special suitability for describing self-similarity and memory effects, which are typical of viscoelastic behaviour in polymers. Thermodynamic validity of these equations can be ensured by obtaining them from analog models containing spring-pots with positive front factors. Failure of self-similarity in real polymers at short (local) and long (whole chain) scales has been addressed previously. In the past, interest in fractional differential descriptions of polymer viscoelasticity has been mainly concerned with linear viscoelasticity, despite the fact that in processing and end use conditions are largely in the non-linear range. In this paper, extension of fractional calculus models to the non-linear range of viscoelasticity is attempted, by accounting for stress activation of deformation and strain acceleration of annealing. Calculated stress-strain curves are compared with experimental results on an amorphous polymer (polycarbonate). The model adequately describes the general trends of yield and post-yield behaviour, but does not properly describe the gentle approach to yield observed experimentally.

Stability and Capsizing of Ships in Random Sea – a Survey

Abstract: This report is a survey of methods of stochastic and nonlinear dynamics in ship stability. After a brief introduction we describe the sea as a stationary random field. We then derive the general equations of motion of a ship from ‘first principles’, specializing to the case of the equations of motion for roll, heave and sway using strip theory from which eventually the ‘archetypal’ nonlinear random differential equation for the roll motion follows. This determines in particular how and where the stochasticity of the sea enters the equation. We then analyze simple nonlinear models of ship motion by means of the theory of random dynamical systems which amounts to studying invariant measures, Lyapunov exponents, random attractors and their (random) domain of attraction and to using stochastic bifurcation theory to describe qualitative changes.

Discrete and Continuous Random Walk Models for Space-Time Fractional Diffusion

Abstract: A mathematical approach to anomalous diffusion may be based on generalized diffusion equations (containing derivatives of fractional order in space or/and time) and related random walk models. A more general approach is however provided by the integral equation for the so-called continuous time random walk (CTRW), which can be understood as a random walk subordinated to a renewal process. We show how this integral equation reduces to our fractional diffusion equations by a properly scaled passage to the limit of compressed waiting times and jumps. The essential assumption is that the probabilities for waiting times and jumps behave asymptotically like powers with negative exponents related to the orders of the fractional derivatives. Illustrating examples are given, numerical results and plots of simulations are displayed.

Role of Prehistories in the Initial Value Problems of Fractional Viscoelastic Equations

Abstract: The fractional viscoelastic equation (FVE), which is a second-order differential equation with fractional derivatives describing the dynamical behavior of a single-degree-of-freedom viscoelastic oscillator, is considered Some viscoelastic damped mechanical systems may be described by FVEs However, FVEs with conventional nonzero initial values cannot generally be solved In this paper, the prehistories of the unknown functions before the initial times, referred to as the initial functions, are taken into account to solve FVEs Mathematically, appropriate initial functions are essential for unique solutions of FVEs Physically, the initial functions reflect the processes of giving the initial values FVEs are solved for some initial functions both by analytical and numerical methods The initial functions affect the solutions of FVEs It is discussed how the solutions depend on the initial functions Implication of the solutions to viscoelastic materials will be discussed

Nonlinear Fractional Order Viscoelasticity at Large Strains

Abstract: In this paper, we formulate a fractional order viscoelastic model for large deformations and develop an algorithm for the integration of the constitutive response. The model is based on the multiplicative split of the deformation gradient into elastic and viscous parts. Further, the stress response is considered to be composed of a nonequilibrium part and an equilibrium part. The viscous part of the deformation gradient (here regarded as an internal variable) is governed by a nonlinear rate equation of fractional order. To solve the rate equation the finite element method in time is used in combination with Newton iterations. The method can handle nonuniform time meshes and uses sparse quadrature for the calculations of the fractional order integral. Moreover, the proposed model is compared to another large deformation viscoelastic model with a linear rate equation of fractional order. This is done by computing constitutive responses as well as structural dynamic responses of fictitious rubber materials.

Nonlinear Boundary Control of the Generalized Burgers Equation

Abstract: In this paper, the adaptive and non-adaptive stabilization of the generalized Burgers equation by nonlinear boundary control are analyzed. For the non-adaptive case, we show that the controlled system is exponentially stable in L2. As for the adaptive case, we present a novel and elegant approach to show the L2 regulation of the solution of the generalized Burgers system. Numerical results supporting and reinforcing the analytical ones of both the controlled and uncontrolled system for the non-adaptive and adaptive cases are presented using the Chebychev collocation method with backward Euler method as a temporal scheme.

A particular class of partially invariant solutions of the navier—stokes equations

Abstract: One class of partially invariant solutions of the Navier—Stokes equations is studied here. This class of solutions is constructed on the basis of the four-dimensional algebra L 4 with the generators $$\begin{array}{*{20}c} {X_1 = \phi _1 \partial _x + \phi '_1 \partial _u - x\phi ''_1 \partial _p ,\quad X_2 = \phi _2 \partial _x + \phi '_2 \partial _u - x\phi ''_2 \partial _p ,} \\ {Y_1 = \psi _1 \partial _y + \psi '_1 \partial _v - y\psi ''_1 \partial _p ,\quad Y_2 = \psi _2 \partial _y + \psi '_2 \partial _v - y\psi ''_2 \partial _p .} \\ \end{array}$$ Systematic investigation of the case, where the Monge—Ampere equation (10) is hyperbolic (Lf z + k + l ≥ 0) is given. It is shown that this class of solutions is a particular case of the solutions with linear velocity profile with respect to one or two space variables.