Representation of robotic fractional dynamics in the pseudo phase plane

This paper analyses robotic signals in the perspective of fractional dynamics and the pseudo phase plane （PPP）.It is shown that the spectra of several experimental signals can be approximated by trend lines whose slope characterizes their fractional behavior.For the PPP reconstruction of each signal,the time lags are calculated through the fractal dimension.Moreover,to obtain a smooth PPP,the noisy signals are filtered through wavelets.The behavior of the spectra reveals a relationship with the fractal dimension of the PPP and the corresponding time delay.

Regular nonlinear response of the driven Duffng oscillator to chaotic time series

Nonlinear response of the driven Duffing oscillator to periodic or quasi-periodic signals has been well studied. In this paper, we investigate the nonlinear response of the driven Duffing oscillator to non-periodic, more specifically, chaotic time series. Through numerical simulations, we find that the driven Duffing oscillator can also show regular nonlinear response to the chaotic time series with different degree of chaos as generated by the same chaotic series generating model, and there exists a relationship between the state of the driven Duffing oscillator and the chaoticity of the input signal of the driven Duffing oscillator. One real-world and two artificial chaotic time series are used to verify the new feature of Duffing oscillator. A potential application of the new feature of Duffing oscillator is also indicated.

A NEW CRITERION FOR OCCURRENCE OF STICK-SLIP MOTION IN DRIVE MECHANISM

This paper, using Karnopp's model of friction force and phase plane method, studies the stick-slip motion of the flexible drive mechanism. It is explained that a sudden drop of friction force is the essential source of stick-slip motion when the sliding is impending. A new criterion for occurrence of stick-slip motion is established. The stick-slip region and the stable region in a parameter plane are separated by a critical parameter curve. Moreover, for the stick-slip motion of the flexible drive mechanism without viscous damping, a parameter expression is obtained. The results may be used in design of the flexible drive mechanism.

Nonlinearity and periodic solution of a standard-beam balance oscillation system

We present the motion equation of the standard-beam balance oscillation system, whose beam and suspensions, compared with the compound pendulum, are connected flexibly and vertically. The nonlinearity and the periodic solution of the equation are discussed by the phase-plane analysis. We find that this kind of oscillation can be equivalent to a standard-beam compound pendulum without suspensions; however, the equivalent mass centre of the standard beam is extended. The derived periodic solution shows that the oscillation period is tightly related to the initial pivot energy and several systemic parameters： beam length, masses of the beam, and suspensions, and the beam mass centre. A numerical example is calculated.

QUALITATIVE ANALYSIS OF A ROLLING HOOP WITH MASS UNBALANCE

The dynamical behavior of a rolling hoop with an unbalanced point mass under the influence of gravity is discussed.The whole process from rolling to hopping of the hoop is analyzed qualitatively.The conditions of slipping,hopping and touching down of the hoop are obtained.It is shown that the hoop cannot maintain a pure rolling before hopping up,and the slippage is unavoid- able.The hoop has neither vertical velocity nor vertical acceleration at the moment when the normal constraint force vanishes.The hopping motion of the hoop can occur only when the derivative of the vertical acceleration with respect to time is positive.It requires that the angular velocity of the hoop should be larger than a critical value,and the mass point should be located in the fourth quadrant of the hoop circle at the moment of hopping.The whole process of the pure rolling,rolling with slipping, hopping and falling motions of the hoop is shown in the phase plane,and the physical explanation of the hopping motion is given.

QUANTITATIVE METHODOLOGY FOR STABILITY ANALYSIS OF NONLINEAR ROTOR SYSTEMS

Rotor-bearings systems applied widely in industry are nonlinear dynamic systems of multi-degree-of-freedom. Modem concepts on design and maintenance call for quantitative stability analysis. Using trajectory based stability-preserving and dimensional-reduction, a quantitative stability analysis method for rotor systems is presented. At first, an n-dimensional nonlinear non-autonomous rotor system is decoupled into n subsystems after numerical integration. Each of them has only onedegree-of-freedom and contains time-varying parameters to represent all other state variables. In this way, n-dimensional trajectory is mapped into a set of one-dimensional trajectories. Dynamic central point （DCP） of a subsystem is then defined on the extended phase plane, namely, force-position plane. Characteristics of curves on the extended phase plane and the DCP＇s kinetic energy difference sequence for general motion in rotor systems are studied. The corresponding stability margins of trajectory are evaluated quantitatively. By means of the margin and its sensitivity analysis, the critical parameters of the period doubling bifurcation and the Hopf bifurcation in a flexible rotor supported by two short journal bearings with nonlinear suspensionare are determined.

Yaw controller design of stratospheric airship based on phase plane method

Recently, stratospheric airships prefer to employ a vectored tail rotor or differential main propellers for the yaw control, rather than the control surfaces like common low-altitude airship. The load capacity of vectored mechanism and propellers are always limited by the weight and strength, which bring challenges for the attitude controller. In this paper, the yaw channel of airship dynamics is firstly rewritten as a simplified two-order dynamics equation and the dynamic charac- teristics is analyzed with a phase plane method. Analysis shows that when ignoring damping, the yaw control channel is available to the minimum principle of Pontryagin for optimal control, which can obtain a Bang-Bang controller. But under this controller, the control output could he bouncing around the theoretical switch curve due to the presence of disturbance and damping, which makes adverse effects for the servo structure. Considering the structure requirements of actuators, a phase plane method controller is employed, with a dead zone surrounded by several phase switch curve. Thus, the controller outputs are limited to finite values. Finally, through the numerical simulation and actual flight experiment, the method is proved to be effective.

Phase plane design based fast altitude tracking control for hypersonic flight vehicle with angle of attack constraint

In this paper, fast setpoint altitude tracking control for Hypersonic Flight Vehicle(HFV)satisfying Angle of Attack(AOA) constraint is studied with a two-loop structure controller, in the presence of parameter uncertainties and disturbances. For the outer loop, phase plane design is adopted for the simplified model under Bang-Bang controller to generate AOA command guaranteeing fast tracking performance. Modifications based on Feedback-Linearization(FL) technique are adopted to transform the phase trajectory into a sliding curve. Moreover, to resist mismatch between design model and actual model, Fast Exponential Reaching Law(FERL) is augmented with the baseline controller to maintain state on the sliding curve. The inner-loop controller is based on backstepping technique to track the AOA command generated by outer-loop controller. Barrier Lyapunov Function(BLF) design is employed to satisfy AOA requirement. Moreover, a novel auxiliary state is introduced to remove the restriction of BLF design on initial tracking errors. Dynamic Surface Control(DSC) is utilized to ease the computation burden. Rigorous stability proof is then given, and AOA is guaranteed to stay in predefined region theoretically. Simulations are conducted to verify the efficiency and superior performance of the proposed method.

Interaction of Solitary Waves with a Phase Shift in a Nonlinear Dirac Model

This paper presents a further numerical study of the interaction dynamics for solitary waves in a nonlinear Dirac model with scalar self-interaction,the Soler model,by using a fourth order accurate Runge-Kutta discontinuous Galerkin method.The phase plane method is employed for the first time to analyze the interaction of Dirac solitary waves and reveals that the relative phase of those waves may vary with the interaction.In general,the interaction of Dirac solitary waves depends on the initial phase shift.If two equal solitary waves are in-phase or out-of-phase initially,so are they during the interaction;if the initial phase shift is far away from 0 andπ,the relative phase begins to periodically evolve after a finite time.In the interaction of out-of-phase Dirac solitary waves,we can observe:(a)full repulsion in binary and ternary collisions,depending on the distance between initial waves;(b)repulsing first,attracting afterwards,and then collapse in binary and ternary collisions of initially resting two-humped waves;(c)one-overlap interaction and two-overlap interaction in ternary collisions of initially resting waves.

Ideal proportional navigation for exoatmospheric interception

Ideal proportional navigation （IPN） is a natural choice for exoatmospheric interception for its mighty capture capability and ease of implementation. The closed-form solution of two- dimensional ideal proportional navigation was conducted in previous public literature, whereas the practical interception happens in the three-dimensional space. A novel set of relative dynamic equations is adopted in this paper, which is with the advantage of decoupling relative motion in the instantaneous rotation plane of the line of sight from the rotation of this plane. The dimension-reduced IPN is constructed in this instantaneous plane, which functions as a three-dimensional guidance law. The trajectory features of dimension-reduced IPN are explored, and the capture regions of dimension-reduced IPN with limited acceleration against nonmaneuvering and maneuvering targets are analyzed by using phase plane method. It is proved that the capture capability of IPN is much stronger than true proportional navigation （TPN）, no matter the target maneuvers or not. Finally, simulation results indicate that IPN is more effective than TPN in exoatmospheric interception scenarios.

STUDY OF NONLINEAR ROSSBY WAVES IN THE ATMOSPHERE UNDER SEMI-GEOSTROPHIC APPROXIMATION

Under semi-geostrophic approximation the nonlinear ordinary differential equations are obtained for the motion in the barotropic and baroclinic atmospheres with the effects of zonal shear basic flow and topographic forcing included. Two constraints are acquired of finite-amplitude periodic and solitary waves in the original model with the aid of the phase-plane geometric qualitative theory of a dynamic system defined by the differential equation.The explicit solution of the nonlinear waves is found by means of the approximation method and some significant results are achieved.

Dynamical Analysis on Traveling Wave of a Reaction-Advection-Diffusion Equation with Double Free Boundaries

This paper investigates a reaction-advection-diffusion equation with double free boundaries.The stationary solution of the system is studied by phase plane analysis.Then,the scale logarithm change sequence method is introduced to show the exact heteroclinic of the system with corresponding parameters.Moreover,a complete description of the types of traveling wave solutions is given with different advection term coefficients.

Electron-acoustic supernonlinear waves and their multistability in the framework of the nonlinear Schrödinger equation

Finite-amplitude supernonlinear electron-acoustic waves(EAWs)are investigated under the nonlinear Schrödinger(NLS)equation in a plasma system that is composed of cold electronfluid,immobile ions and q-nonextensive hot electrons.Using the wave transfiguration,the NLS equation is deduced in a dynamical system.The presence of finite-amplitude nonlinear and supernonlinear EAWs is shown by phase plane analysis.The effects of the nonextensive parameter(q)and the speed of waves(v)on different traveling wave solutions of EAWs are presented.Furthermore,by introducing a small external periodic force in the dynamical system,multistability behaviors of EAWs under the NLS equation are shown for the first time in classical plasmas.

New chaos M-ary modulation method and its application in communications

At present, chaotic communications have been widely studied. However, these researches mainly focus on the binary systems while the researches of M-ary chaotic communications are not extensive. To change the situation, a chaos M-ary modulation method based on phase plane partition of Hamilton map is proposed. Firstly, the chaotic model of Hamilton map and its phase plane features are described, and then the way of creating the chaos M-ary modulation is discussed. Next, to evaluate the proposed method, the system simulation results and analysis are given. Finally, the chaos M-ary modulation method is applied to communications.