Stability and oscillations in a slow-fast flexible joint system with transformation delay

Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or shaft is firstly modeled to be a slow-fast delayed system when moment of inertia of the lightweight link is far less than that of the heavy rotor. To analyze the stability and oscillations of the slowfast system, the geometric singular perturbation method is extended, with both slow and fast manifolds expressed analytically. The stability of the slow manifold is investigated and critical boundaries are obtained to divide the stable and the unstable regions. To study effects of the transformation delay on the stability and oscillations of the link, two quantitatively different driving forces derived from the negative feedback of the link are considered. The results show that one of these two typical driving forces may drive the link to exhibit a stable state and the other kind of driving force may induce a relaxation oscillation for a very small delay. However, the link loses stability and undergoes regular periodic and bursting oscillation when the transformation delay is large. Basically, a very small delay does not affect the stability of the slow manifold but a large delay affects substantially.

Time-Delay Effects on Synchronization of Coupled Slow-Fast Systems

Time-delay effects on synchronization features of delay-coupled slow-fast van der Pol systems are investigated in the present paper. The synchronization mechanism of “slow-manifold adjustment” is firstly described on the basis of geometric singular perturbation theory. Then, the impact of time delay on the structure of the slow manifold of synchronized system is obtained by using the method of stability switch, and thus, time-delay effects on synchronization features are stated. It is shown the time delay cannot qualitatively affect the synchronization mechanism, however, it can result in the drift of the optimal coupling strength.

Canard Solutions in a Predator-Prey Model

The canard explosion phenomenon in a predator-prey model with Michaelis-Menten functional response is analyzed in this paper by employing the geometric singular perturbation theory. First, some turning points, such as, fold point, transcritical point, pitchfork point, canard point, are identified;then Hopf bifurcation, relaxation oscillation, together with the canard transition from Hopf bifurcation to relaxation oscillation are discussed.

Truncation Analysis for the Derivative Schrodinger Equation

The truncation equation for the derivative nonlinear Schrodinger equation has been dis- cussed in this paper. The existence of a special heteroclinic orbit has been found by using geometrical singular perturbation theory together with Melnikov's technique.

Solitary Wave Solutions of Delayed Coupled Higgs Field Equation

This paper is devoted to the study of the solitary wave solutions for the delayed coupled Higgs field equation{vtt-uxx-αu+βf*u|u|^(2)-2uv-τu(|u|^(2))x=0 vtt+vxx-β(|u|^(x))xx=0.We first establish the existence of solitary wave solutions for the corresponding equation without delay and perturbation by using the Hamiltonian system method.Then we consider the persistence of solitary wave solutions of the delayed coupled Higgs field equation by using the method of dynamical system,especially the geometric singular perturbation theory,invariant manifold theory and Fredholm theory.According to the relationship between solitary wave and homoclinic orbit,the coupled Higgs field equation is transformed into the ordinary differential equations with fast variables by using the variable substitution.It is proved that the equations with perturbation also possess homoclinic orbit,and thus we obtain the existence of solitary wave solutions of the delayed coupled Higgs field equation.