Motivated by models that arise in controlled ship maneuvering, we analyze Hopf bifurcations in systems with piecewise smooth nonlinear part. In particular, we derive explicit formulas for the generalization of the first Lyapunov coefficient to this setting. This generically determines the direction of branching (super- versus sub-criticality), but in general this differs from any fixed smoothing of the vector field. We focus on nonsmooth nonlinearities of the form $u_i|u_j|$, but our results are formulated in broader generality for systems in any dimension with piecewise smooth nonlinear part. In addition, we discuss some codimension-one degeneracies and apply the results to a model of a shimmying wheel.
Following the pioneering work of Iommi-Kiwi and Jenkinson-Pollicott-Vytnova, we continue to study the inflection points of the Lyapunov spectrum in this work. We prove that for any 3-branch piecewise linear expanding map on an interval, the number of its Lyapunov inflections is bounded above by 2. Then we continue to show that, there is a 4-branch piecewise linear expanding map, such that its Lyapunov spectrum has exactly 4 inflection points. These results give an answer to a question by Jenkinson-Pollicott-Vytnova on the least number of branches needed to observe 4 inflections in the Lyapunov…
For any integer $r$ with $1\leq r<\infty$, we present a one-parameter family $F_σ$ $(0<σ<1)$ of 2-dimensional piecewise $\mathcal C^r$ expanding maps such that each $F_σ$ has an observable (i.e. Lebesgue positive) Lyapunov irregular set. These maps are obtained by modifying the piecewise expanding map given in Tsujii (2000). In strong contrast to it, we also show that any Lyapunov irregular set of any 2-dimensional piecewise real analytic expanding map is not observable. This is based on the spectral analysis of piecewise expanding maps in Buzzi (2000).
We propose a class of locally Lipschitz functions with piecewise structure for use as Lyapunov functions for hybrid dynamical systems. Subject to some regularity of the dynamics, we show that Lyapunov inequalities can be checked only on a dense set and thus we avoid checking them at points of nondifferentiability of the Lyapunov function. Connections to other classes of locally Lipschitz or piecewise regular functions are also discussed and applications to hybrid dynamical systems are included.
This Letter outlines 20 geometric mechanisms by which limit cycles are created locally in two-dimensional piecewise-smooth systems of ODEs. These include boundary equilibrium bifurcations of hybrid systems, Filippov systems, and continuous systems, and limit cycles created from folds and by the addition of hysteresis or time-delay. Scaling laws for the amplitude and period of the limit cycles are compared to (classical) Hopf bifurcations.
The phenomenon of slow passage through a Hopf bifurcation is ubiquitous in multiple-timescale dynamical systems, where a slowly-varying quantity replacing a static parameter induces the solutions of the resulting slow-fast system to feel the effect of a Hopf bifurcation with a delay. This phenomenon is well understood in the context of smooth slow-fast dynamical systems. In the present work, we study for the first time this phenomenon in piecewise linear (PWL) slow-fast systems. This special class of systems is indeed known to reproduce all features of their smooth counterpart while being more…
For many physical systems the transition from a stationary solution to sustained small amplitude oscillations corresponds to a Hopf bifurcation. For systems involving impacts, thresholds, switches, or other abrupt events, however, this transition can be achieved in fundamentally different ways. This paper reviews 20 such `Hopf-like' bifurcations for two-dimensional ODE systems with state-dependent switching rules. The bifurcations include boundary equilibrium bifurcations, the collision or change of stability of equilibria or folds on switching manifolds, and limit cycle creation via hysteresi…
For piecewise monotone interval maps we look at Birkhoff spectra for regular potential functions. This means considering the Hausdorff dimension of the set of points for which the Birkhoff average of the potential takes a fixed value. In the uniformly hyperbolic case we obtain complete results, in the case with parabolic behaviour we are able to describe the part of the sets where the lower Lyapunov exponent is positive. In addition we give some lower bounds on the full spectrum in this case. This is an extension of work of Hofbauer on the entropy and Lyapunov spectra.
Piecewise-Linear in Rates (PWLR) Lyapunov functions are introduced for a class of Chemical Reaction Networks (CRNs). In addition to their simple structure, these functions are robust with respect to arbitrary monotone reaction rates, of which mass-action is a special case. The existence of such functions ensures the convergence of trajectories towards equilibria, and guarantee their asymptotic stability with respect to the corresponding stoichiometric compatibility class. We give the definition of these Lyapunov functions, prove their basic properties, and provide algorithms for constructing t…
The collision of a fixed point with a switching manifold (or border) in a piecewise-smooth map can create many different types of invariant sets. This paper explores two techniques that, combined, establish a chaotic attractor is created in a border-collision bifurcation in $\mathbb{R}^d$ $(d \ge 1)$. First, asymptotic stability of the fixed point at the bifurcation is characterised and shown to imply a local attractor is created. Second, a lower bound on the maximal Lyapunov exponent is obtained from the determinants of the one-sided Jacobian matrices associated with the fixed point. Special …
Normal form method of center-focus problem in piecewise-smooth systems and algorithm design
School of Mathematics, Sichuan University（四川大学数学学院）；School of Mathematics and Statistics, Southwest University（西南大学数学与统计学院）；School of Mathematics, Southwestern University of Finance and Economics（西南财经大学数学学院）
In this paper we study the dynamics of the monoscale Lorenz-96 model using both analytical and numerical means. The bifurcations for positive forcing parameter $F$ are investigated. The main analytical result is the existence of Hopf or Hopf-Hopf bifurcations in any dimension $n\geq4$. Exploiting the circulant structure of the Jacobian matrix enables us to reduce the first Lyapunov coefficient to an explicit formula from which it can be determined when the Hopf bifurcation is sub- or supercritical. The first Hopf bifurcation for $F>0$ is always supercritical and the periodic orbit born at this…
We show how the existence of three objects, $Ω_{\rm trap}$, ${\bf W}$, and $C$, for a continuous piecewise-linear map $f$ on $\mathbb{R}^N$, implies that $f$ has a topological attractor with a positive Lyapunov exponent. First, $Ω_{\rm trap} \subset \mathbb{R}^N$ is trapping region for $f$. Second, ${\bf W}$ is a finite set of words that encodes the forward orbits of all points in $Ω_{\rm trap}$. Finally, $C \subset T \mathbb{R}^N$ is an invariant expanding cone for derivatives of compositions of $f$ formed by the words in ${\bf W}$. We develop an algorithm that identifies these objects for tw…
This paper concerns two-dimensional Filippov systems --- ordinary differential equations that are discontinuous on one-dimensional switching manifolds. In the situation that a stable focus transitions to an unstable focus by colliding with a switching manifold as parameters are varied, a simple sufficient condition for a unique local limit cycle to be created is established. If this condition is violated, three nested limit cycles may be created simultaneously. The result is achieved by constructing a Poincaré map and generalising analytical arguments that have been employed for continuous sys…
In this paper, the dynamical behaviors of a Leslie-Gower predator-prey model with Allee effect and fear effect are studied. First, we use Blow-Up method to explore the stability of the original point. Analyze the local stability of the non-negative equilibriums of the system. Taking the growth rate of predators as the Hopf bifurcation parameters. And give the condition of the model Hopf bifurcation. Using the method of calculating the first Lyapunov coefficient to discuss the direction of the Hopf bifurcation near the weak center.
Classical canard explosion results in smooth systems require the vector field to be at least $C^3$, since canard cycles are created as the result of a Hopf bifurcation. The work on canards in nonsmooth, planar systems is recent and has thus far been restricted to piecewise-linear or piecewise-smooth Van der Pol systems, where an extremum of the critical manifold arises from the nonsmoothness. In both of these cases, a canard (or canard-like) explosion is created through a nonsmooth bifurcation as the slow nullcline passes through a corner of the critical manifold. Additionally, it is possible …
In planar analytic vector fields, a monodromic singularity can be distinguished between a focus or a center by means of the Lyapunov coefficients, which are given in terms of the power series coefficients of the first-return map defined around the singularity. In this paper, we are interested in an analogous problem for monodromic tangential singularities of piecewise analytic vector fields $Z=(Z^+ ,Z^-)$. First, we prove that the first-return map, defined in a neighborhood of a monodromic tangential singularity, is analytic, which allows the definition of the Lyapunov coefficients. Then, as a…
We consider the dynamics of a two-dimensional ordinary differential equation exhibiting a Hopf bifurcation subject to additive white noise and identify three dynamical phases: (I) a random attractor with uniform synchronisation of trajectories, (II) a random attractor with non-uniform synchronisation of trajectories and (III) a random attractor without synchronisation of trajectories. The random attractors in phases (I) and (II) are random equilibrium points with negative Lyapunov exponents while in phase (III) there is a so-called random strange attractor with positive Lyapunov exponent. We a…
Consider a non-autonomous continuous-time linear system in which the time-dependent matrix determining the dynamics is piecewise constant and takes finitely many values $A_1, \dotsc, A_N$. This paper studies the equality cases between the maximal Lyapunov exponent associated with the set of matrices $\{A_1, \dotsc, A_N\}$, on the one hand, and the corresponding ones for piecewise deterministic Markov processes with modes $A_1, \dotsc, A_N$, on the other hand. A fundamental step in this study consists in establishing a result of independent interest, namely, that any sequence of Markov processe…
In this work, we conduct a rigorous analysis on the dynamics of a predator-prey model with cooperative predation. From the root classification of an algebraic equation, we derive existence criteria of the positive equilibria. By Jacobian matrix and central manifold theory, we find critical conditions under which the positive equilibria are locally asymptotically stable or unstable. We also use a careful computation to obtain a concise and explicit formula for the first Lyapunov coefficient. Especially, we prove that the Hopf bifurcation induced by the cooperative predation is always supercriti…
By applying a singular perturbation approach, canard limit cycles exhibited by a general family of singularly perturbed planar piecewise linear (PWL) differential systems are analyzed. The performed study involves both hyperbolic and non-hyperbolic canard limit cycles appearing after both a supercritical and a subcritical Hopf bifurcation. The obtained results are completely comparable with those obtained for smooth vector fields. In some sense, the manuscript can be understood as an extension towards the PWL framework of the results obtained for smooth systems by Krupa and Szmolyan [18]. In a…
