Abstract
Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which the control is turned off when the state of the pendulum is located within certain regions of phase space. Without applying a small angle approximation for deviations about the vertical position, we see structurally stable periodic orbits which may be attracting or repelling. Due to the nonsmooth nature of the control, these periodic orbits originate in various discontinuity-induced bifurcations. We also show that a coincidence of switching events can produce complicated periodic and aperiodic solutions.
Similar content being viewed by others
References
Asai, Y., Tasaka, Y., Nomura, K., Nomura, T., Casadio, M., Morasso, P.: A model of postural control in quiet standing: Robust compensation of delay-induced instability using intermittent activation of feedback control. PLoS ONE 4(7), e6169 (2009)
Bajd, T., Mihelj, M., Lenarčič, J., Stanovnik, A., Munih, M.: Robotics. Intelligent Systems, Control and Automation: Science and Engineering. Springer, New York (2010)
Bräunl, T.: Embedded Robotics. Mobile Robot Design and Application with Embedded Systems. Springer, New York (2008)
Bullo, F., Lewis, A.D.: Geometric Control of Mechanical Systems. Modeling, Analysis, and Design for Simple Mechanical Control Systems. Texts in Applied Mathematics, vol. 49. Springer, New York (2005)
Cabrera, J.L.: Controlling instability with delay antagonistic stochastic dynamics. Physica A 356, 25–30 (2005)
Cabrera, J.L., Milton, J.G.: On-off intermittency in a human balancing task. Phys. Rev. Lett. 89(15), 158702 (2002)
Campbell, S.A.: Calculating center manifolds for delay differential equations using Maple. In: Balakumar, B., Kalár-Nagy, T., Gilsinn, D. (eds.) Delay Differential Equations: Recent Advances and New Directions. Springer, New York (2009). Chap. 8
Campbell, S.A., Crawford, S., Morris, K.: Friction and the inverted pendulum stabilization problem. J. Dyn. Syst. Meas. Control 130, 054502 (2008)
Carmona, V., Freire, E., Ponce, E., Torres, F.: The continuous matching of two stable linear systems can be unstable. Discrete Contin. Dyn. Syst. 16(3), 689–703 (2006)
Casadio, M., Morasso, P.G., Sanguineti, V.: Direct measurement of ankle stiffness during quiet standing: implications for control modelling and clinical application. Gait Posture 21, 410–424 (2005)
Casey, R., de Jong, H., Gouzé, J.: Piecewise-linear models of genetic regulatory networks: Equilibria and their stability. J. Math. Biol. 52, 27–56 (2006)
Colombo, A., di Bernardo, M., Hogan, S.J., Kowalczyk, P.: Complex dynamics in a hysteretic relay feedback system with delay. J. Nonlinear Sci. 17, 85–108 (2007)
Day, B.L., Steiger, M.J., Thompson, P.D., Marsden, C.D.: Effect of vision and stance width on human body motion when standing: Implications for afferent control of lateral sway. J. Physiol. 469, 479–499 (1993)
di Bernardo, M., Budd, C.J., Champneys, A.R., Kowalczyk, P.: Piecewise-Smooth Dynamical Systems. Theory and Applications. Springer, New York (2008)
Diekmann, O., van Gils, S., Lunel, S.M.V., Walther, H.-O.: Delay Equations. Applied Mathematical Sciences, vol. 110. Springer, New York (1995)
Dukkipati, R.V.: Control Systems. Alpha Science, Harrow (2005)
Erneux, T.: Applied Delay Differential Equations. Surveys and Tutorials in the Applied Mathematical Sciences, vol. 3. Springer, New York (2009)
Eurich, C.W., Milton, J.G.: Noise-induced transitions in human postural sway. Phys. Rev. E 54(6), 6681–6684 (1996)
Filippov, A.F.: Differential equations with discontinuous right-hand side. In: American Mathematical Society Translations, vol. 42, pp. 199–231. AMS, Ann Arbor (1964)
Filippov, A.F.: Differential Equations with Discontinuous Righthand Sides. Kluwer Academic, Norwell (1988)
Freire, E., Ponce, E., Rodrigo, F., Torres, F.: Bifurcation sets of continuous piecewise linear systems with two zones. Int. J. Bifurc. Chaos 8(11), 2073–2097 (1998)
Glendinning, P.: Stability, Instability and Chaos: An Introduction to the Theory of Nonlinear Differential Equations. Cambridge University Press, New York (1999)
Hale, J.K., Lunel, S.M.V.: Introduction to Functional Differential Equations. Applied Mathematical Sciences, vol. 99. Springer, New York (1993)
Insperger, T., Kovács, L.L., Galambos, P., Stépán, G.: Increasing the accuracy of digital force control process using the act-and-wait concept. IEEE/ASME Trans. Mechatron. 15(2), 291–298 (2010)
Iwatani, Y., Hara, S.: Stability tests and stabilization for piecewise linear systems based on poles and zeros of subsystems. Automatica 42, 1685–1695 (2006)
Kollár, L.E., Stépán, G., Hogan, S.J.: Sampling delay and backlash in balancing systems. Period. Polytech. Ser. Mech. Eng. 44(1), 77–84 (2000)
Kowalczyk, P., Glendinning, P., Brown, M., Medrano-Cerda, G., Dallali, H., Shapiro, J.: Understanding aspects of human balancing through the dynamics of switched systems with linear feedback control (2010). http://eprints.ma.man.ac.uk/1540
Landry, M., Campbell, S.A., Morris, K., Aguilar, C.O.: Dynamics of an inverted pendulum with delayed feedback control. SIAM J. Appl. Dyn. Syst. 4(2), 333–351 (2005)
Leine, R.I., Van Campen, D.H., Van de Vrande, B.L.: Bifurcations in nonlinear discontinuous systems. Nonlinear Dyn. 23, 105–164 (2000)
Liberzon, D.: Switching in Systems and Control. Birkhäuser, Boston (2003)
Lin, H., Antsaklis, P.J.: Stability and stabilization of switched linear systems: a survey of recent results. IEEE Trans. Autom. Control 54(2), 308–322 (2009)
Loram, I.D., Lakie, M.: Direct measurement of human ankle stiffness during quiet standing: The intrinsic mechanical stiffness is insufficient for stability. J. Physiol. 545, 1041–1053 (2002)
Loram, I.D., Maganaris, C.N., Lakie, M.: Active, non-spring-like muscle movements in human postural sway: How might paradoxical changes in muscle length be produced? J. Physiol. 564, 281–293 (2005)
Loram, I.D., Gawthrop, P.J., Martin, L.: The frequency of human, manual adjustments in balancing an inverted pendulum is constrained by intrinsic physiological factors. J. Physiol. 577, 417–432 (2006)
Masani, K., Popovic, M.R., Nakazawa, K., Kouzaki, M., Nozaki, D.: Importance of body sway velocity information in controlling ankle extensor activities during quiet stance. J. Neurophysiol. 90, 3774–3782 (2003)
Milton, J.G., Cabrera, J.L., Ohira, T.: Unstable dynamical systems: Delays, noise and control. Europhys. Lett. 83, 48001 (2008)
Milton, J., Cabrera, J.L., Ohira, T., Tajima, S., Tonosaki, Y., Eurich, C.W., Campbell, S.A.: The time-delayed inverted pendulum: Implications for human balance control. Chaos 19, 026110 (2009a)
Milton, J.G., Ohira, T., Cabrera, J.L., Frasier, R.M., Gyorffy, J.B., Ruiz, F.K., Strauss, M.A., Balch, E.C., Marin, P.J., Alexander, J.L.: Balancing with vibration: A prelude for “Drift and Act” balance control. PLoS ONE 4(10), e7427 (2009b)
Milton, J., Townsend, J.L., King, M.A., Ohira, T.: Balancing with positive feedback: The case for discontinuous control. Philos. Trans. R. Soc. A 367, 1181–1193 (2009c)
Sieber, J.: Dynamics of delayed relay systems. Nonlinearity 19(11), 2489–2527 (2006)
Sieber, J., Krauskopf, B.: Bifurcation analysis of an inverted pendulum with delayed feedback control near a triple-zero eigenvalue. Nonlinearity 17(1), 85–103 (2004a)
Sieber, J., Krauskopf, B.: Complex balancing motions of an inverted pendulum subject to delayed feedback control. Physica D 197, 332–345 (2004b)
Sieber, J., Krauskopf, B.: Extending the permissible control loop latency for the controlled inverted pendulum. Dyn. Syst. 20(2), 189–199 (2005)
Sieber, J., Kowalczyk, P., Hogan, S.J., di Bernardo, M.: Dynamics of symmetric dynamical systems with delayed switching. J. Vib. Control 16(7–8), 1111–1140 (2010)
Stèpàn, G., Insperger, T.: Stability of time-periodic and delayed systems—a route to act-and-wait control. Annu. Rev. Control 30, 159–168 (2006)
Stèpàn, G., Insperger, T.: Robust time-periodic control of time-delayed systems. In: IUTAM Symposium on Dynamics and Control of Nonlinear Systems with Uncertainty, vol. 2, pp. 343–352 (2007)
Stèpàn, G., Kollàr, L.: Balancing with reflex delay. Math. Comput. Model. 31, 199–205 (2000)
Wang, H., Chamroo, A., Vasseur, C., Koncar, V.: Hybrid control for vision based cart-inverted pendulum system. In: American Control Conference, pp. 3845–3850 (2008)
Author information
Authors and Affiliations
Corresponding author
Additional information
Communicated by Sue Ann Campbell.
Rights and permissions
About this article
Cite this article
Simpson, D.J.W., Kuske, R. & Li, YX. Dynamics of Simple Balancing Models with Time-Delayed Switching Feedback Control. J Nonlinear Sci 22, 135–167 (2012). https://doi.org/10.1007/s00332-011-9111-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00332-011-9111-4