In this paper some piecewise smooth perturbations of a three-dimensional differential system are considered. The existence of invariant manifolds filled by periodic orbits is obtained after suitable small perturbations of the original differential system. These manifolds emerge from a continuum of cylinders of $\mathbb{R}^3$ which does exist for the piecewise smooth differential systems after a rotation of some planar algebraic polynomial curves. The main tool used in order to obtain the results is the averaging theory for piecewise smooth differential systems.
In this paper we research global dynamics and bifurcations of planar piecewise smooth quadratic quasi--homogeneous but non-homogeneous polynomial differential systems. We present sufficient and necessary conditions for the existence of a center in piecewise smooth quadratic quasi--homogeneous systems. Moreover, the center is global and non-isochronous if it exists, which cannot appear in smooth quadratic quasi-homogeneous systems. Then the global structures of piecewise smooth quadratic quasi--homogeneous but non-homogeneous systems are studied. Finally we investigate limit cycle bifurcations …
This paper consists in discussing some issues on generic local classification of typical singularities of $2D$ piecewise smooth vector fields when the switching set is an algebraic variety. The main focus is to obtain classification results concerning structural stability and generic codimension one bifurcations.
The stable and unstable manifolds of an invariant set of a piecewise-smooth map are themselves piecewise-smooth. Consequently, as parameters of a piecewise-smooth map are varied, an invariant set can develop a homoclinic connection when its stable manifold intersects a non-differentiable point of its unstable manifold (or vice-versa). This is a codimension-one bifurcation analogous to a homoclinic tangency of a smooth map, referred to here as a homoclinic corner. This paper presents an unfolding of generic homoclinic corners for saddle fixed points of planar piecewise-smooth continuous maps. I…
We consider a network of identical piecewise smooth systems that synchronizes on the manifold given by a periodic orbit of a single agent. We explicitly characterize the fundamental matrix solution of the network along the synchronous solution and extend the Master Stability Function tool to the present case of non-smooth dynamics.
In this paper we study the global dynamics of piecewise smooth vector fields defined in the two dimensional torus and sphere. We provide conditions under these families exhibits periodic and dense trajectories and we describe some global bifurcations. We also study its minimal sets and characterize the chaotic behavior of the piecewise smooth vector fields defined in torus and sphere.
In this work we study the renormalization operator acting on piecewise smooth homeomorphisms on the circle, that turns out to be essentially the study of Rauzy-Veech renormalizations of generalized interval exchanges maps with genus one. In particular we show that renormalizations of such maps with zero mean nonlinearity and satisfying certain smoothness and combinatorial assumptions converges to the set of piecewise affine interval exchange maps.
In this paper, we study the problem of limit cycle bifurcation in two piecewise polynomial systems of Liénard type with multiple parameters. Based on the developed Melnikov function theory, we obtain the maximum number of limit cycles of these two systems.
In this paper we study some aspects of thermodynamic formalism, more specifically topological pressure and, as a consequence, topological entropy for piecewise smooth vector fields, using topological conjugation with shift maps and the Perron- Frobenius Operator. Some relationships between entropy and Hausdorff dimensions are also investigated.
This paper presents results concerning bifurcations of 2D piecewise-smooth dynamical systems governed by vector fields. Generic three-parameter families of a class of Non-Smooth Vector Fields are studied and the bifurcation diagrams are exhibited. Our main results describe the unfolding of the so called Resonant $Fold-Saddle$ singularity.
In this paper, the general perturbation problem of piecewise smooth integrable differential systems with two switching planes is considered. Firstly, when the unperturbed system has a family of periodic orbits, the first order Melnikov vector function is derived which can be used to study the number of periodic orbits bifurcated from the period annuli. Then, by using the obtained Melnikov vector function, we get an upper bound of the number of periodic orbits of a concrete $n$-dimensional piecewise smooth differential system.
This paper is concerned with the analysis of a typical singularity of piecewise smooth vector fields on $R^3$ composed by two zones. In our object of study, the cusp-fold singularity, we consider the simultaneous occurrence of a cusp singularity for one vector field and a fold singularity for the other one. We exhibit a normal form that presents one of the most important property searched for in piecewise smooth vector fields: the asymptotical stability.
We consider a class of discontinuous piecewise linear differential systems in $\mathbb{R}^3$ with two pieces separated by a plane. In this class we show that there exist differential systems having: a unique limit cycle, a unique one-parameter family of periodic orbits, scrolls, invariant cylinders foliated by orbits which can be periodic or no.
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.
We show that a nonlinear, piecewise-smooth, planar dynamical system can exhibit canard phenomena. Canard solutions and explosion in nonlinear, piecewise-smooth systems can be qualitatively more similar to the phenomena in smooth systems than piecewise-linear systems, since the nonlinearity allows for canards to transition from small cycles to canards ``with heads." The canards are born of a bifurcation that occurs as the slow-nullcline coincides with the splitting manifold. However, there are conditions under which this bifurcation leads to a phenomenon called super-explosion, the instantaneou…
The Conley theory has a tool to guarantee the existence of periodic trajectories in isolating neighborhoods of semi-dynamical systems. We prove that the positive trajectories generated by a piecewise-smooth vector field $Z=(X, Y)$ defined in a closed manifold of three dimensions without the scape region produces a semi-dynamical system. Thus, we have built a semiflow that allows us to apply the classical Conley theory. Furthermore, we use it to guarantee the existence of periodic orbits in this class of piecewise-smooth vector fields.
Let $IET(\mathbb{S}^{1})$ be the group of interval exchange transformation of $\mathbb{S}^{1}$ and $\mathcal{AC}_{+}(\mathbb{S}^{1})$ be the group of absolutely continuous preserving orientation bijection with inverse absolutely continuous. We denote by $\mathcal{ACI}$ the group generated by $IET(\mathbb{S}^{1})$ and $\mathcal{AC}_{+}(\mathbb{S}^{1})$. Given a suitable distance on $\mathcal{ACI}$, we classify all continuous homomorphisms $ρ:\mathbb{R} \to \mathcal{ACI}$. More precisely, $ρ$ is conjugated to a continuous homomorphism $\hatρ:\mathbb{R} \to \mathcal{AC}_{+}(\uplus_{i}(\mathbb{S}^…
In this paper, we perturb the global center of the planar polynomial vector fields $\mathcal{X}(x,y)=(-y(x^2+a^2),x(x^2+a^2))$ ($a\neq0$) inside cubic piecewise smooth polynomials with switching line $y=0$. By using average function of first order, we prove that the sharper bound of the number of limit cycles bifurcating from the period annulus is 6.
This paper is concerned with the local bifurcation analysis around typical singularities of piecewise smooth planar dynamical systems. Three-parameter families of a class of non$-$smooth vector fields are studied and the tridimensional bifurcation diagrams are exhibited. Our main results describe the unfolding of the so called fold-cusp singularity by means of the variation of 3 parameters.
It is well known that smooth (or continuous) vector fields cannot be topologically transitive on the sphere $§^2$. Piecewise-smooth vector fields, on the other hand, may present non-trivial recurrence even on $§^2$. Accordingly, in this paper the existence of topologically transitive piecewise-smooth vector fields on $§^2$ is proved, see Theorem \ref{teorema-principal}. We also prove that transitivity occurs alongside the presence of some particular portions of the phase portrait known as {\it sliding region} and {\it escaping region}. More precisely, Theorem \ref{main:transitivity} states tha…
In this paper some aspects on chaotic behavior and minimality in planar piecewise smooth vector fields theory are treated. The occurrence of non-deterministic chaos is observed and the concept of orientable minimality is introduced. It is also investigated some relations between minimality and orientable minimality and observed the existence of new kinds of non-trivial minimal sets in chaotic systems. The approach is geometrical and involve the ordinary techniques of non-smooth systems.
We study renormalizations of piecewise smooth homeomorphisms on the circle, by considering such maps as generalized interval exchange maps of genus one. Suppose that $Df$ is absolutely continuous on each interval of continuity and $D\ln{Df}\in \mathbb{L}_{p}$ for some $p>1$. We prove, that under certain combinatorial assumptions on $f_{1}$ and $f_{2}$, corresponding renormalizations approach to each other in $C^{1+L_{1}}$-norm.
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 …
Mode-locking regions (resonance tongues) formed by border-collision bifurcations of piecewise-smooth, continuous maps commonly exhibit a distinctive sausage-like geometry with pinch points called "shrinking points". In this paper we extend our unfolding of the piecewise-linear case [{\em Nonlinearity}, 22(5):1123-1144, 2009] to show how shrinking points are destroyed by nonlinearity. We obtain a codimension-three unfolding of this shrinking point bifurcation for $N$-dimensional maps. We show that the destruction of the shrinking points generically occurs by the creation of a curve of saddle-no…
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.…
We find conditions for two piecewise C^{2+ν} homeomorphisms f and g of the circle to be C^1 conjugate. Besides the restrictions on the combinatorics of the maps (we assume that the maps have bounded combinatorics), and necessary conditions on the one-side derivatives of points where f and g are not differentiable, we also assume zero mean nonlinearity for f and g.
By varying a parameter of a one-dimensional piecewise smooth map, stable periodic orbits are observed. In this paper, complete analytic characterization of these stable periodic orbits is obtained. An interesting relationship between the cardinality of orbits and their period is established. It is proved that for any $n$, there exist $ϕ(n)$ distinct admissible patterns of cardinality $n$. An algorithm to obtain these distinct admissible patterns is outlined. Additionally, a novel algorithm to find the range of parameter for which the orbit exists is proposed.
The normal forms associated with holomorphic systems are well known in the literature. In this paper we are concerned about studying the piecewise smooth holomorphic systems (PWHS). Specifically, we classify the possible phase portraits of these systems from the known normal forms and the typical singularities of PWHS. Also, we are interested in understanding how the trajectories of the regularized system associated with the PWHS transits through the region of regularization. In addition, we know that holomorphic systems have no limit cycles, but piecewise smooth holomorphic systems do, so we …
In the space of C^k piecewise expanding unimodal maps, k>=1, we characterize the C^1 smooth families of maps where the topological dynamics does not change (the "smooth deformations") as the families tangent to a continuous distribution of codimension-one subspaces (the "horizontal" directions) in that space. Furthermore such codimension-one subspaces are defined as the kernels of an explicit class of linear functionals. As a consequence we show the existence of C^{k-1+Lip} deformations tangent to every given C^k horizontal direction, for k>=2.
We show the existence of Shilnikov-type dynamics and bifurcation behaviour in general discrete three-dimensional piecewise smooth maps and give analytical results for the occurence of such dynamical behaviour. Our main example in fact shows a `two-sided' Shilnikov dynamics, i.e. simultaneous looping and homoclinic intersection of the one-dimensional eigenmanfolds of fixed points on both sides of the border. We also present two complementary methods to analyse the return time of an orbit to the border: one based on recursion and another based on complex interpolation.
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）
Our start point is a 3D piecewise smooth vector field defined in two zones and presenting a shared fold curve for the two smooth vector fields considered. Moreover, these smooth vector fields are symmetric relative to the fold curve, giving raise to a continuum of nested topological cylinders such that each orthogonal section of these cylinders is filled by centers. First we prove that the normal form considered represents a whole class of piecewise smooth vector fields. After we perturb the initial model in order to obtain exactly $\mathcal{L}$ invariant planes containing centers. A second pe…
This paper presents a framework for the study of convergence when the nodes' dynamics may be both piecewise smooth and/or nonidentical across the network. Specifically, we derive sufficient conditions for global convergence of all node trajectories towards the same bounded region of their state space. The analysis is based on the use of set-valued Lyapunov functions and bounds are derived on the minimum coupling strength required to make all nodes in the network converge towards each other. We also provide an estimate of the asymptotic bound $ε$ on the mismatch between the node states at stead…
Recently, the theory concerning piecewise smooth vector fields (PSVFs for short) have been undergoing important improvements. In fact, many results obtained do not have an analogous for smooth vector fields. For example, the chaoticity of planar PSVFs, which is impossible for the smooth ones. These differences are generated by the non-uniqueness of trajectory passing through a point. Inspired by the classical fact that one-dimensional discrete dynamic systems can produce chaotic behavior, we construct a conjugation between the shift map and PSVFs. By means of the results obtained and the techn…
In this article we study the existence of limit cycles in families of piecewise smooth differential equations having the unit circle as discontinuity region. We consider families presenting singularities of center or saddle type, visible or invisible, as well as the case without singularities. We establish an upper bound for the number of limit cycles and give examples showing that the maximum number of limit cycles can be reached. We also discuss the existence of homoclinic cycles for such differential equations in the saddle-center case.
Sliding motion is evolution on a switching manifold of a discontinuous, piecewise-smooth system of ordinary differential equations. In this paper we quantitatively study the effects of small-amplitude, additive, white Gaussian noise on stable sliding motion. For equations that are static in directions parallel to the switching manifold, the distance of orbits from the switching manifold approaches a quasi-steady-state density. From this density we calculate the mean and variance for the near sliding solution. Numerical results of a relay control system reveal that the noise may significantly a…
We address the problem of understanding the dynamics around typical singular points of $3D$ piecewise smooth vector fields. A model $Z_0$ in $3D$ presenting a T-singularity is considered and a complete picture of its dynamics is obtained in the following way: \textit{(i)} $Z_0$ has an invariant plane $π_0$ filled up with periodic orbits (this means that the restriction $Z_0 |_{π_0}$ is a center around the singularity), \textit{(ii)} All trajectories of $Z_0$ converge to the surface $π_0$, and such attraction occurs in a very non-usual and amazing way, \textit{(iii)} given an arbitrary integer …
We find a normal form which describes the high energy dynamics of a class of piecewise smooth Fermi-Ulam ping pong models; depending on the value of a single real parameter, the dynamics can be either hyperbolic or elliptic. In the first case we prove that the set of orbits undergoing Fermi acceleration has zero measure but full Hausdorff dimension. We also show that for almost every orbit the energy eventually falls below a fixed threshold. In the second case we prove that, generically, we have stable periodic orbits for arbitrarily high energies, and that the set of Fermi accelerating orbits…
We consider the dynamics of `nonlinear tent maps': piecewise smooth unimodal maps with nowhere vanishing derivative. We show that if a nonlinear tent map $f$ is not infinitely renormalizable, then all its periodic orbits of sufficiently high period are hyperbolic repelling. If additionally all periodic orbits of $f$ are hyperbolic, then $f$ has at most finitely many periodic attractors and there is a hyperbolic expansion outside the basins of these periodic attractors. In particular, if a nonlinear tent map $f$ is not infinitely renormalizable and all its periodic orbits are hyperbolic repelli…
The limiting slow dynamics of slow-fast, piecewise-linear, continuous systems of ODEs occurs on critical manifolds that are piecewise-linear. At points of non-differentiability, such manifolds are not normally hyperbolic and so the fundamental results of geometric singular perturbation theory do not apply. In this paper it is shown that if the critical manifold is globally stable then the system is forward invariant in a neighbourhood of the critical manifold. It follows that in this neighbourhood the dynamics is given by a regular perturbation of the dynamics on the critical manifold and so d…
Resonance tongues are mode-locking regions of parameter space in which stable periodic solutions occur; they commonly occur, for example, near Neimark-Sacker bifurcations. For piecewise-smooth, continuous maps these tongues typically have a distinctive lens-chain (or sausage) shape in two-parameter bifurcation diagrams. We give a symbolic description of a class of "rotational" periodic solutions that display lens-chain structures for a general $N$-dimensional map. We then unfold the codimension-two, shrinking point bifurcation, where the tongues have zero width. A number of codimension-one bif…
In this paper, we extend the slow divergence-integral from slow-fast systems, due to De Maesschalck, Dumortier and Roussarie, to smooth systems that limit onto piecewise smooth ones as $ε\rightarrow 0$. In slow-fast systems, the slow divergence-integral is an integral of the divergence along a canard cycle with respect to the slow time and it has proven very useful in obtaining good lower and upper bounds of limit cycles in planar polynomial systems. In this paper, our slow divergence-integral is based upon integration along a generalized canard cycle for a piecewise smooth two-fold bifurcatio…
It is proved that all special flows over the rotation by an irrational $α$ with bounded partial quotients and under $f$ which is piecewise absolutely continuous with a non-zero sum of jumps are mildly mixing. Such flows are also shown to enjoy a condition which emulates the Ratner condition introduced in \cite{Rat}. As a consequence we construct a smooth vector--field on $\T^2$ with one singularity point such that the corresponding flow $(ϕ_t)_{t\in\R}$ preserves a smooth measure, its set of ergodic components consists of a family of periodic orbits and one component of positive measure on whi…
We consider the regularity of measurable solutions $χ$ to the cohomological equation \[ ϕ= χ\circ T -χ, \] where $(T,X,μ)$ is a dynamical system and $ϕ\colon X\rightarrow \R$ is a $C^k$ valued cocycle in the setting in which $T \colon X\rightarrow X$ is a piecewise $C^k$ Gibbs--Markov map, an affine $β$-transformation of the unit interval or more generally a piecewise $C^{k}$ uniformly expanding map of an interval. We show that under mild assumptions, bounded solutions $χ$ possess $C^k$ versions. In particular we show that if $(T,X,μ)$ is a $β$-transformation then $χ$ has a $C^k$ version, thus…
Let $f_{i},$ $i=1,2$ be piecewise-smooth $C^{1}$ circle homeomorphisms with two break points, $\log Df_{i},$ $i=1,2$ are absolutely continuous on each continuity intervals of $Df_{i}$ and $D\log Df_{i}\in L^{p}$ for some $p>1.$ Suppose, the jump ratios of $f_{1} $ and $f_{2} $ at their break points do not coincide but have the same total jumps (i.e. the product of jump ratios) and identical irrational rotation number of bounded type. Then the conjugation $h$ between $f_{1} $ and $f_{2} $ is a singular function, i.e. it is continuous on $S^1,$ but $Dh(x)=0$ a.e. with respect to Lebesgue measure…
This paper investigates the exact number of limit cycles given by the averaging theory of first order for the piecewise smooth integrable non-Hamiltonian system \begin{eqnarray*} (\dot{x},\ \dot{y})=\begin{cases} (-y(x+a)^2+\varepsilon f^+(x,y),\ x(x+a)^2+\varepsilon g^+(x,y)),\ \ x\geq0,\\ (-y(x+b)^2+\varepsilon f^-(x,y),\ x(x+b)^2+\varepsilon g^-(x,y)),\ ~ \, x<0,\\ \end{cases}\end{eqnarray*} where $ab\neq 0$, $0<|\varepsilon|\ll 1$, and $f^\pm(x,y)$ and $g^\pm(x,y)$ are polynomials of degree $n$. It is proved that the exact number of limit cycles emerging from the period annulus surrounding…
For flows, the singular cycles connecting saddle periodic orbit and saddle equilibrium can poten- tially result in the so-called singular horseshoe, which means the existence of a non-uniformly hyperbolic chaotic invariant set. However, it is very hard to find a specific dynamical system that exhibits such singular cycles in general. In this paper, the existence of the singular cycles involved in saddle periodic orbits is studied by two types of piecewise affine systems: one is the piecewise affine system having an admissible saddle point with only real eigenvalues and an admissible saddle per…
