Nonlinear Dynamical Systems Research Articles

Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators

Nonlinear optimal control for robotic exoskeletons with electropneumatic actuators

Adaptable reservoir computing: A paradigm for model-free data-driven prediction of critical transitions in nonlinear dynamical systems.

A problem in nonlinear and complex dynamical systems with broad applications is forecasting the occurrence of a critical transition based solely on data without knowledge about the system equations. When such a transition leads to system collapse, as often is the case, all the available data are from the pre-critical regime where the system still functions normally, making the prediction problem challenging. In recent years, a machine-learning based approach tailored to solving this difficult prediction problem, adaptable reservoir computing, has been articulated. This Perspective introduces the basics of this machine-learning scheme and describes representative results. The general setting is that the system dynamics live on a normal attractor with oscillatory dynamics at the present time and, as a bifurcation parameter changes into the future, a critical transition can occur after which the system switches to a completely different attractor, signifying system collapse. To predict a critical transition, it is essential that the reservoir computer not only learns the dynamical "climate" of the system of interest at some specific parameter value but, more importantly, discovers how the system dynamics changes with the bifurcation parameter. It is demonstrated that this capability can be endowed into the machine through a training process with time series from a small number of distinct, pre-critical parameter values, thereby enabling accurate and reliable prediction of the catastrophic critical transition. Three applications are presented: predicting crisis, forecasting amplitude death, and creating digital twins of nonlinear dynamical systems. Limitations and future perspectives are discussed.

Physics-constrained robust learning of open-form partial differential equations from limited and noisy data

Unveiling the underlying governing equations of nonlinear dynamic systems remains a significant challenge. Insufficient prior knowledge hinders the determination of an accurate candidate library, while noisy observations lead to imprecise evaluations, which in turn result in redundant function terms or erroneous equations. This study proposes a framework to robustly uncover open-form partial differential equations (PDEs) from limited and noisy data. The framework operates through two alternating update processes: discovering and embedding. The discovering phase employs symbolic representation and a novel reinforcement learning (RL)-guided hybrid PDE generator to efficiently produce diverse open-form PDEs with tree structures. A neural network-based predictive model fits the system response and serves as the reward evaluator for the generated PDEs. PDEs with higher rewards are utilized to iteratively optimize the generator via the RL strategy and the best-performing PDE is selected by a parameter-free stability metric. The embedding phase integrates the initially identified PDE from the discovering process as a physical constraint into the predictive model for robust training. The traversal of PDE trees automates the construction of the computational graph and the embedding process without human intervention. Numerical experiments demonstrate our framework's capability to uncover governing equations from nonlinear dynamic systems with limited and highly noisy data and outperform other physics-informed neural network-based discovery methods. This work opens new potential for exploring real-world systems with limited understanding.

Data-driven modeling of interrelated dynamical systems

Non-linear dynamical systems describe numerous real-world phenomena, ranging from the weather, to financial markets and disease progression. Individual systems may share substantial common information, for example patients’ anatomy. Lately, deep-learning has emerged as a leading method for data-driven modeling of non-linear dynamical systems. Yet, despite recent breakthroughs, prior works largely ignored the existence of shared information between different systems. However, such cases are quite common, for example, in medicine: we may wish to have a patient-specific model for some disease, but the data collected from a single patient is usually too small to train a deep-learning model. Hence, we must properly utilize data gathered from other patients. Here, we explicitly consider such cases by jointly modeling multiple systems. We show that the current single-system models consistently fail when trying to learn simultaneously from multiple systems. We suggest a framework for jointly approximating the Koopman operators of multiple systems, while intrinsically exploiting common information. We demonstrate how we can adapt to a new system using order-of-magnitude less new data and show the superiority of our model over competing methods, in terms of both forecasting ability and statistical fidelity, across chaotic, cardiac, and climate systems.

Periodic motions with impact chatters in an impact Duffing oscillator.

The periodic motions of discontinuous nonlinear dynamical systems are very difficult problems to solve in engineering and physics. Until now, except for numerical studies, one cannot find a better way to solve such problems. In fact, one still has difficulty obtaining periodic motions in continuous nonlinear dynamical systems. In this paper, a method is presented systematically for periodic motions in discontinuous nonlinear dynamical systems. The stability and grazing bifurcations of such periodic motions are studied. Such a method is presented through discussion on a periodically forced, impact Duffing oscillator. Thus, periodic motions with impact chatters in a periodically forced Duffing oscillator with one-sidewall constraint are studied. The analytical conditions for motion grazing at the boundary are developed from discontinuous dynamical systems. The impact Duffing oscillator is discretized to generate subimplicit mappings. With impact, the mapping structures are employed to construct specific impact periodic motions for an impact Duffing oscillator. The bifurcation trees of impact chatter periodic motions are achieved semi-analytically. The grazing and period-doubling bifurcations are obtained, and the grazing bifurcations are for the appearing and disappearance for an impact chatter periodic motion. The impact chatter periodic motions with and without grazing are presented for illustration of impact periodic motion complexity in the impact Duffing oscillator.

On the Computation of Floquet Multipliers for Periodic Solution in Piecewise-smooth Dynamical System

The floquet multiplier is one of the most important indicators for the stability and bifurcation analysis for periodic solutions in nonlinear dynamical systems. Different from the well-established Floquet theory for the perturbation systems of smooth systems, much less has been understood in its counterpart for non-smooth systems. Here in this paper, we will report an unusual and interesting feature of the Floquet multipliers for piecewise-smooth dynamical systems. When the initial condition of the periodic solution is located at the boundary splitting the solution domain, the multipliers would be calculated falsely in certain circumstances, respectively, by a saltation matrix method or a direct numerical integration for the perturbation system. We elucidate the origin of the fake multipliers through perturbation analysis, and furthermore suggest an effective manner to avoid the miscalculation. This finding would be of fundamental significance to both the real-world applications and theory establishment of the Floquet theory in non-smooth systems

Fractional view analysis of coupled Whitham- Broer-Kaup and Jaulent-Miodek equations

In this study, I systematically investigate the fractional Whitham-Broer-Kaup (WBK) system and the fractional Coupled Jaulent-Miodek (CJM) equation under the Caputo fractional calculus. The nonlinear fractional differential equation systems are investigated via the Aboodh transform iteration method and the Aboodh residual power series method, thus offering a thorough analytical investigation. The dynamics of the fractional WBK system are accomplished using the Aboodh transform iteration method, and the Aboodh residual power series method is employed to study the behavior of the fractional CJM equation. Using established solutions, we completely analyze their dynamics employing both symbolic computations and numerical simulations. Consequently, novel solutions are identified, and the behavior of these fractional systems in the Caputo operator sense are clarified. The results obtained show good agreement of convergence of the numerical and analytical solutions, highlighting the effectiveness of the schemes adopted for unraveling the complex dynamics of fractional nonlinear systems.

Inferring bifurcation diagrams with transformers.

The construction of bifurcation diagrams is an essential component of understanding nonlinear dynamical systems. The task can be challenging when one knows the equations of the dynamical system and becomes much more difficult if only the underlying data associated with the system are available. In this work, we present a transformer-based method to directly estimate the bifurcation diagram using only noisy data associated with an arbitrary dynamical system. By splitting a bifurcation diagram into segments at bifurcation points, the transformer is trained to simultaneously predict how many segments are present and to minimize the loss with respect to the predicted position, shape, and asymptotic stability of each predicted segment. The trained model is shown, both quantitatively and qualitatively, to reliably estimate the structure of the bifurcation diagram for arbitrarily generated one- and two-dimensional systems experiencing a codimension-one bifurcation with as few as 30 trajectories. We show that the method is robust to noise in both the state variable and the system parameter.

Modeling the Complex Interplay: Dynamics of Job Displacement and Evolution of Artificial Intelligence in a Socio-Economic Landscape

Modeling the Complex Interplay: Dynamics of Job Displacement and Evolution of Artificial Intelligence in a Socio-Economic Landscape

Explainable Intelligent Fault Diagnosis for Nonlinear Dynamic Systems: From Unsupervised to Supervised Learning.

The increased complexity and intelligence of automation systems require the development of intelligent fault diagnosis (IFD) methodologies. By relying on the concept of a suspected space, this study develops explainable data-driven IFD approaches for nonlinear dynamic systems. More specifically, we parameterize nonlinear systems through a generalized kernel representation for system modeling and the associated fault diagnosis. An important result obtained is a unified form of kernel representations, applicable to both unsupervised and supervised learning. More importantly, through a rigorous theoretical analysis, we discover the existence of a bridge (i.e., a bijective mapping) between some supervised and unsupervised learning-based entities. Notably, the designed IFD approaches achieve the same performance with the use of this bridge. In order to have a better understanding of the results obtained, both unsupervised and supervised neural networks are chosen as the learning tools to identify the generalized kernel representations and design the IFD schemes; an invertible neural network is then employed to build the bridge between them. This article is a perspective article, whose contribution lies in proposing and formalizing the fundamental concepts for explainable intelligent learning methods, contributing to system modeling and data-driven IFD designs for nonlinear dynamic systems.

Backstepping Stabilization of Nonlinear Dynamical Systems under State Constraints

Backstepping Stabilization of Nonlinear Dynamical Systems under State Constraints

Reliability control of nonlinear stochastic dynamical system based on discrete data

Stochastic optimal control based on reliability plays a crucial role in mitigating structural failure and ensuring safe operation. For general stochastic vibration systems, a data-driven method for reliability-based optimal control is proposed based on random state data. Firstly, the feedback control is split into conservative and dissipative components in coherence with physical intuition, and each component is expanded upon using pre-selected basic functions, resulting in a modified system with undetermined coefficients. Then, from discrete random samples, the expressions for the probability densities of the first-passage time and the stationary response can be identified, explicitly including system and excitation parameters, as well as initial and safety boundary conditions. Finally, a performance index, combining system reliability and control cost, is constructed and can be explicitly expressed in terms of the undetermined coefficients of the control forces. The optimal control problem for determining the optimal control forces is reformulated as an optimization problem for determining the coefficients that minimize the performance index. This unconstrained optimization problem can be easily solved. Three typical nonlinear stochastic systems, a controlled Duffing oscillator, a controlled nonlinear hysteretic system, and a controlled 2-DOF nonlinear dynamical system, are given to illustrate the validity and accuracy of the proposed data-driven method. Additionally, the control performance of the optimal control strategy in improving the system reliability is also discussed.

Analysis and Applications of the Chaotic Hyperbolic Memristor Model with Fractional Order Derivative

This work presents a new five-dimensional fractional-order chaotic system that includes a feedback memristor. A Lorenz-Stenflo-based fractional-order chaotic system with five dimensions that contains feedback memristor dynamics is used to do this. This work focuses on chaotic models through the ABC fractional derivative, a concept we rigorously examine. We designed and usedsophisticated numerical algorithms to model fractional-order dynamics with the utmost precision to understand this system’s complex characteristics. These numerical approaches excel at non-integer order differentiation, which standard numerical methods struggle with. Our research uses fractional calculus to increase the system’s complexity and robustness, revealing its hyperchaotic nature. We demonstrate that the system is chaotic and stable over fractional orders using eigenvalues, Lyapunov exponents, Kaplan-Yorke dimensions, maximal exponents, phase portraits, and equilibrium points. Our conclusions are strengthened by using these numerical systems, intended for this work, and analytical tools. We improve our understanding of fractional-order chaotic systems with our research. It illuminates how to improve electrical integrations and create more sophisticated nonlinear dynamical systems. This work establishes the approach and insights for future research, guiding the development of new systems with enhanced dynamical features

An Improved Algebraic Structure of Nonlinear Dynamical Systems

A substitution box is regarded as an eminent source of nonlinearity and perplexity in most of the block ciphers. In this work, we propose that the involvement of a local ring has a favorable influence on the highly desirable features of this nonlinear cryptographic system. We deploy the unit group of a local ring by considering its correspondence with the Galois field and design an algorithm that utilizes the algebraic properties of the local ring [Formula: see text], to synthesize a highly efficient S-box.

Flatness‐based control in successive loops for mechatronic motion transmission systems

AbstractMechatronic systems with nonlinear dynamics are met in motion transmission applications for vehicles and robots. In this article, the control problem for the nonlinear dynamics of mechatronic motion transmission systems is solved with the use of a flatness‐based control approach which is implemented in successive loops. The state‐space model of these systems is separated into a series of subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system, and control about it can be performed with inversion of its dynamics as in the case of input–output linearized flat systems. In this chain of subsystems, the state variables of the subsequent ( )‐th subsystem become virtual control inputs for the preceding ‐th subsystem and so on. In turn, exogenous control inputs are applied to the last subsystem and are computed by tracing backwards the virtual control inputs of the preceding subsystems. The whole control method is implemented in successive loops, and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is confirmed in the following two case studies: (a) control of a permanent magnet linear synchronous motor (PMLSM)‐actuated vehicle's clutch and (ii) control of a multi‐Degrees of Freedom (multi‐DOF) flexible joint robot.

Analytic solutions of alpha-beta -time- derivatives complex finance chaotic dynamical system: synchronization and extended center manifold. An explicit approach

The present study focuses on a real finance nonlinear dynamic system (FNLDS), which has been shown to exhibit chaotic behavior. The solutions for such nonlinear dynamical systems (NLDSs) have typically been derived using numerical techniques. The objective of this study aims to; firstly, derive approximate analytical solutions for the complex FNLDS (CFNLDS) by constructing the Picard iterative scheme. The convergence of this scheme is proven, and the error analysis shows good tolerance, indicating the efficiency of the technique. Second, a novel criterion for synchronizing the real and imaginary parts of the system is presented, based on a necessary condition. Thirdly, a new method for constructing the extended center manifold is introduced. The 3D portrait reveals a feedback scroll pattern, while the 2D portrait, representing the mutual components, shows multiple pools. The synchronization of the real and imaginary parts of the system is demonstrated graphically. The FNLDS is tested for sensitivity dependence against tiny variations in the initial conditions, and it is found that the system components are moderately sensitive. Furthermore, the Hamiltonian and the extended center manifold establish a two-fold structure. It is observed that the effect of the α-β derivative leads to a delay in the behavior of the solutions.

Nonlinear dynamics of postural control system under visual-vestibular habituation balance practice: evidence from EEG, EMG and center of pressure signals.

Human postural control system is inherently complex with nonlinear interaction among multiple subsystems. Accordingly, such postural control system has the flexibility in adaptation to complex environments. Previous studies applied complexity-based methods to analyze center of pressure (COP) to explore nonlinear dynamics of postural sway under changing environments, but direct evidence from central nervous system or muscular system is limited in the existing literature. Therefore, we assessed the fractal dimension of COP, surface electromyographic (sEMG) and electroencephalogram (EEG) signals under visual-vestibular habituation balance practice. We combined a rotating platform and a virtual reality headset to present visual-vestibular congruent or incongruent conditions. We asked participants to undergo repeated exposure to either congruent (n = 14) or incongruent condition (n = 13) five times while maintaining balance. We found repeated practice under both congruent and incongruent conditions increased the complexity of high-frequency (0.5-20 Hz) component of COP data and the complexity of sEMG data from tibialis anterior muscle. In contrast, repeated practice under conflicts decreased the complexity of low-frequency (<0.5 Hz) component of COP data and the complexity of EEG data of parietal and occipital lobes, while repeated practice under congruent environment decreased the complexity of EEG data of parietal and temporal lobes. These results suggested nonlinear dynamics of cortical activity differed after balance practice under congruent and incongruent environments. Also, we found a positive correlation (1) between the complexity of high-frequency component of COP and the complexity of sEMG signals from calf muscles, and (2) between the complexity of low-frequency component of COP and the complexity of EEG signals. These results suggested the low- or high-component of COP might be related to central or muscular adjustment of postural control, respectively.

Analysis of the Dynamics of a Cubic Nonlinear Five-Dimensional Memristive Chaotic System and the Study of Reduced-Dimensional Synchronous Masking

To improve the complexity of the chaotic system and achieve the effective transmission of image information, in this paper, a five-dimensional memristive chaotic system with cubic nonlinear terms is constructed, which has four pairs of symmetric coordinates. First, the cubic nonlinear memristive chaotic system is analyzed using the Lyapunov exponential map, bifurcation map, and attractor phase diagram. The experimental results show that under four pairs of symmetric coordinates, the system exists not only parameter-dependent symmetric rotational coexisting attractor and transient chaotic phenomena but also exists super-multistationary with alternating chaotic cycles dependent on the initial value of the memristor. Then, it is proposed to add a constant term to the linear state variable to explore the effect of the offset increment of the linear state variable on the system in four pairs of symmetric coordinates, while circuit simulation of the five-dimensional chaotic system is carried out using Simulink to verify its existence and realisability. Finally, the synchronization of the dimensionality reduction system and the confidential transmission of the image are achieved, using the control voltage of the system to replace the internal state variables of the memristor to achieve the one-dimensional reduction process, and an adaptive synchronization controller is designed to synchronize the system before and after the dimensionality reduction. Based on the above, an image to be transmitted is modulated into a one-dimensional array and then subjected to the fractional and cyclic operations and combined with the linear encryption and decryption functions and the chaotic masking technique, the simple encryption and decryption of the image processes are realized.

ModelFLOWs-app: Data-driven post-processing and reduced order modelling tools

This article presents an innovative open-source software named ModelFLOWs-app,1 written in Python, which has been created and tested to generate precise and robust hybrid reduced order models (ROMs) fully data-driven. By integrating modal decomposition and deep learning in diverse ways, the software uncovers the fundamental patterns in dynamic systems. This acquired knowledge is then employed to enrich the comprehension of the underlying physics, reconstruct databases from limited measurements, and forecast the progression of system dynamics. The hybrid ROMs produced by ModelFLOWs-app combine experimental and numerical databases, serving as highly accurate alternatives to numerical simulations. As a result, computational expenses are significantly reduced, and the models become powerful tools for optimization and control in various applications. The exceptional capability of ModelFLOWs-app in developing reliable data-driven hybrid ROMs has been demonstrated across a wide range of applications, making it a valuable resource for understanding complex nonlinear dynamical systems and providing insights in diverse domains. This article presents the mathematical background, as well as a review of some examples of applications. Program summaryProgram title: ModelFLOWs-appCPC Library link to program files:https://doi.org/10.17632/49tzcc8sf3.1Developer's repository link:github.com/modelflows/ModelFLOWs-appLicensing provisions: MIT licenseProgramming language: PythonSupplementary material: Tutorial, example datasets.Nature of problem: ModelFLOWs-app is an open-source Software for data post-processing, patterns identification and development of reduced order models using modal decomposition and deep learning architectures. ModelFLOWs-app provides its users with a user-friendly interface to efficiently identify patterns in data, reconstruct data by repairing or enhancing it, and make predictions based on the available data.Solution method: ModelFLOWs-app methodological framework is formed by two big modules: Module 1 uses modal decomposition methods, and Module 2 is formed by hybrid machine learning tools, which combine modal decomposition with deep learning architectures. Each module solves three different applications: (1) patterns identification, suitable to study the physics behind the data analysed; (2) data reconstruction, capable to reconstruct two- or three- dimensional databases from a set of selected points, using data from sensors, or repairing missing data; (3) data forecasting, which builds reduced order models (ROMs) to predict the spatio-temporal evolution of the signal analysed.Additional comments including restrictions and unusual features: ModelFLOWs-app offers an intuitive and user-friendly interface, making it accessible to users with varying levels of technical expertise. It is compatible with Windows, macOS, and Linux operating systems. Users can import their data in popular formats (.mat, .csv, .npy, .pkl, .h5), and the results can be exported in Matlab “.mat” or Numpy “.npy” for post-processing. The Deep Learning models have been developed using TensorFlow, and users have the option to search for the optimal hyperparameters for their database since hyperparameter optimization has been implemented for all models. See Refs. [1–10].

Nonlinear optimization filters for stochastic time‐varying convex optimization

AbstractWe look at a stochastic time‐varying optimization problem and we formulate online algorithms to find and track its optimizers in expectation. The algorithms are derived from the intuition that standard prediction and correction steps can be seen as a nonlinear dynamical system and a measurement equation, respectively, yielding the notion of nonlinear filter design. The optimization algorithms are then based on an extended Kalman filter in the unconstrained case, and on a bilinear matrix inequality condition in the constrained case. Some special cases and variations are discussed, notably the case of parametric filters, yielding certificates based on LPV analysis and, if one wishes, matrix sum‐of‐squares relaxations. Supporting numerical results are presented from real data sets in ride‐hailing scenarios. The results are encouraging, especially when predictions are accurate, a case which is often encountered in practice when historical data is abundant.