Search Results (221)

Quaternions are used in various applications, especially in those where it is necessary to model and represent rotational movements, both in the plane and in space, such as in the modeling of the movements of robots and mechanisms. In this article, a methodology to model the rigid rotations of coupled bodies by means of unit quaternions is presented. Two parallel robots were modeled: a planar RRR robot and a spatial motion PRRS robot using the proposed methodology. Inverse kinematic problems were formulated for both models. The planar RRR robot model generated a system of 21 nonlinear equations and 18 unknowns and a system of 36 nonlinear equations and 33 unknowns for the case of space robot PRRS; both systems of equations were of the polynomial algebraic type. The systems of equations were solved using the Broyden–Fletcher–Goldfarb–Shanno nonlinear programming algorithm and Mathematica V12 symbolic computation software. The modeling methodology and the algebra of unitary quaternions allowed the systematic study of the movements of both robots and the generation of mathematical models clearly and functionally. Full article

Offshore cranes equipped with active motion compensation (AMC) systems play a vital role in marine engineering tasks such as offshore wind turbine maintenance, subsea operations, and dynamic load positioning under wave-induced disturbances. These systems rely on complex hydraulic actuators whose strongly nonlinear dynamics—often described by differential-algebraic equations (DAEs)—impose significant computational burdens, particularly in real-time applications like hardware-in-the-loop (HIL) simulation, digital twins, and model predictive control. To address this bottleneck, we propose a neural network-based surrogate model that approximates the actuator dynamics with high accuracy and low computational cost. By approximately reducing the original DAE model, we obtain a lower-dimensional ordinary differential equations (ODEs) representation, which serves as the foundation for training. The surrogate model includes three hidden layers, demonstrating strong fitting capabilities for the highly nonlinear characteristics of hydraulic systems. Bayesian regularization is adopted to train the surrogate model, effectively preventing overfitting. Simulation experiments verify that the surrogate model reduces the solving time by 95.33%, and the absolute pressure errors for chambers $p_1$ and $p_2$ are controlled within 0.1001 MPa and 0.0093 MPa, respectively. This efficient and scalable surrogate modeling framework possesses significant potential for integrating high-fidelity hydraulic actuator models into real-time digital and control systems for offshore applications. Full article

This paper proposes the generalized modified unstable nonlinear Schrödinger’s equation with applications in modulated wavetrain instabilities. The extended direct algebra and generalized Ricatti equation methods are applied to find innovative soliton solutions to the equation. The solutions are obtained in the form of elliptic, hyperbolic, and trigonometric functions. Moreover, a Galilean transformation is used to convert the problem into a dynamical system. We use the theory of planar dynamical systems to derive the equilibrium points of the dynamical system and analyze the Hamiltonian polynomial. We further investigate the bifurcation phase portrait of the system and study its chaotic behaviors when an external force is applied to the system. Graphical 2D and 3D plots are explored to support our mathematical analysis. A sensitivity analysis confirms that the variation in initial conditions has no substantial effect on the stability of the solutions. Furthermore, we give the modulation instability gain spectrum of the considered model and graphically indicate its dynamics using 2D plots. The reported results demonstrate not only the dynamics of the analyzed equation but are also conceptually relevant in establishing the temporal development of modest disturbances in stable or unstable media. These disturbances will be critical for anticipating, planning treatments, and creating novel mechanisms for modulated wavetrain instabilities. Full article

Although fractional calculus has evolved significantly since its origin in the 1695 correspondence between Leibniz and L’Hôpital, the numerical treatment of multi-order fractional differential equations remains a challenge. Existing methods are often either computationally expensive or reliant on complex operational frameworks that hinder their broader applicability. In the present study, a novel numerical algorithm is proposed based on orthogonal hybrid functions (HFs), which were constructed as linear combinations of piecewise constant sample-and-hold functions and piecewise linear triangular functions. These functions, belonging to the class of degree-1 orthogonal polynomials, were employed to obtain the numerical solution of multi-order fractional differential equations defined in the Caputo sense. A generalized one-shot operational matrix was derived to explicitly express the Riemann–Liouville fractional integral of HFs in terms of the HFs themselves. This allowed the original multi-order fractional differential equation to be transformed directly into a system of algebraic equations, thereby simplifying the solution process. The developed algorithm was then applied to a range of benchmark problems, including both linear and nonlinear multi-order FDEs with constant and variable coefficients. Numerical comparisons with well-established methods in the literature revealed that the proposed approach not only achieved higher accuracy but also significantly reduced computational effort, demonstrating its potential as a reliable and efficient numerical tool for fractional-order modeling. Full article

Magneto-electro-elastic materials, a novel class of smart materials, exhibit remarkable energy conversion properties, making them highly suitable for applications in nanotechnology. This study focuses on various aspects of the fractional nonlinear longitudinal wave equation (FNLWE) that models wave propagation in a magneto-electro-elastic circular rod. Using the direct algebraic method, several new soliton solutions were derived under specific parameter constraints. In addition, Galilean transformation was employed to explore the system’s sensitivity and quasi-periodic dynamics. The study incorporates 2D, 3D, and time-series visualizations as effective tools for analyzing quasi-periodic behavior. The results contribute to a deeper understanding of the nonlinear dynamical features of such systems and demonstrate the robustness of the applied methodologies. This research not only extends existing knowledge of nonlinear wave equations but also introduces a substantial number of new solutions with broad applicability. Full article

This study sought to deepen our understanding of the dynamical properties of the newly extended $(3+1)$-dimensional integrable Kadomtsev–Petviashvili (KP) equation, which models the behavior of ion acoustic waves in plasmas and nonlinear optics. This paper aimed to perform Lie symmetry analysis and derive lump, breather, and soliton solutions using the extended hyperbolic function method and the generalized logistic equation method. It also analyzed the dynamical system using chaos detection techniques such as the Lyapunov exponent, return maps, and the fractal dimension. Initially, we focused on constructing lump and breather soliton solutions by employing Hirota’s bilinear method. Secondly, employing Lie symmetry analysis, symmetry generators were utilized to satisfy the Lie invariance conditions. This approach revealed a seven-dimensional Lie algebra for the extended $(3+1)$-dimensional integrable KP equation, incorporating translational symmetry (including dilation or scaling) as well as translations in space and time, which were linked to the conservation of energy. The analysis demonstrated that this formed an optimal sub-algebraic system via similarity reductions. Subsequently, a wave transformation method was applied to reduce the governing system to ordinary differential equations, yielding a wide array of exact solitary wave solutions. The extended hyperbolic function method and the generalized logistic equation method were employed to solve the ordinary differential equations and explore closed-form analytical solitary wave solutions for the diffusive system under consideration. Among the results obtained were various soliton solutions. When plotting the results of all the solutions, we obtained bright, dark, kink, anti-kink, peak, and periodic wave structures. The outcomes are illustrated using 2D, 3D, and contour plots. Finally, upon introducing the perturbation term, the system’s behavior was analyzed using chaos detection techniques such as the Lyapunov exponent, return maps, and the fractal dimension. The results contribute to a deeper understanding of the dynamic properties of the extended KP equation in fluid mechanics. Full article

Dynamic post-buckling behavior of microscale cylindrical shells reinforced with functionally graded carbon nanotubes (FG-CNTs) and conveying microfluid is discussed for the first time. The microshell is embedded in a Kerr foundation and subjected to an axial compressive load and a two-dimensional magnetic field effect. CNTs dispersion across the shell thickness follows a power law, with five distribution types developed. The modified couple stress theory is applied to incorporate the small-size effect using a single material parameter. Furthermore, the Knudsen number is used to address the small-size effect on the microfluid. The external force between the magnetic fluid and microshell is modeled by applying the Navier–Stokes equation depending on the fluid velocity. Nonlinear motion equations of the present model are derived using Hamilton’s principle, containing the Lorentz magnetic force. According to the Galerkin method, the equations of motion are transformed into an algebraic system to be solved, determining the post-buckling paths. Numerical results indicate that the presence of the magnetic field, CNT reinforcement, and fluid flow improves the load-bearing performance of the cylindrical microshells. Also, many new parametric effects on the post-buckling curves of the FG-CNT microshells have been discovered, including the shell geometry, magnetic field direction, length scale parameter, Knudsen number, and CNT distribution types. Full article

Two nonlinear Duffing equations are numerically treated in this article. The nonlinear fractional-order Duffing equations and the second-order nonlinear Duffing equations are handled. Based on the collocation technique, we provide two numerical algorithms. To achieve this goal, a new family of basis functions is built by combining the sets of Fibonacci and Lucas polynomials. Several new formulae for these polynomials are developed. The operational matrices of integer and fractional derivatives of these polynomials, as well as some new theoretical results of these polynomials, are presented and used in conjunction with the collocation method to convert nonlinear Duffing equations into algebraic systems of equations by forcing the equation to hold at certain collocation points. To numerically handle the resultant nonlinear systems, one can use symbolic algebra solvers or Newton’s approach. Some particular inequalities are proved to investigate the convergence analysis. Some numerical examples show that our suggested strategy is effective and accurate. The numerical results demonstrate that the suggested collocation approach yields accurate solutions by utilizing Fibonacci–Lucas polynomials as basis functions. Full article

The following article details a model predictive control (MPC) to improve grid resilience when faced with variable generation resources. This topic is of significant interest to utility power systems where distributed intermittent energy sources will increase significantly and be relied on for electric grid ancillary services. Previous work on MPCs has focused on narrowly targeted control applications such as improving electric vehicle (EV) charging infrastructure or reducing the cost of integrating Energy Storage Systems (ESSs) into the grid. In contrast, this article develops a comprehensive treatment of the construction of an MPC tailored to electric grids and then applies it integration of intermittent energy resources. To accomplish this, the following article includes a description of a reduced order model (ROM) of an electric power grid based on a circuit model, an optimization formulation that describes the MPC, a collocation method for solving linear time-dependent differential algebraic equations (DAEs) that result from the ROM, and an overall strategy for iteratively refining the behavior of the MPC. Next, the algorithm is validated using two separate numerical experiments. First, the algorithm is compared to an existing MPC code and the results are verified by a numerically precise simulation. It is shown that this algorithm produces a control comparable to existing algorithms and the behavior of the control carefully respects the bounds specified. Second, the MPC is applied to a small nine bus system that contains a mix of turbine-spinning-machine-based and intermittent generation in order to demonstrate the algorithm’s utility for resource planning and control of intermittent resources. This study demonstrates how the MPC can be tuned to change the behavior of the control, which can then assist with the integration of intermittent resources into the grid. The emphasis throughout the paper is to provide systematic treatment of the topic and produce a novel nonlinear control compatible design framework applicable to electric grids and the control of variable resources. This differs from the more targeted application-based focus in most presentations. Full article

This research addresses the problem of the initial synthesis of kinematic chains with spherical kinematic pairs, which are essential in the design of spatial mechanisms used in robotics, aerospace, and mechanical systems. The goal is to establish the existence of solutions for defining the geometric and motion constraints of these kinematic chains, ensuring that the synthesized mechanism achieves the desired motion with precision. By formulating the synthesis problem in terms of nonlinear algebraic equations derived from the spatial positions and orientations of the links, we analyze the conditions under which a valid solution exists. We explore both analytical and numerical methods to solve these equations, highlighting the significance of parameter selection in determining feasible solutions. Specifically, our approach demonstrates the visualization of fixed points, such as A, B, and C, alongside their spatial differences with respect to reference points and transformation matrices. We detail methods for plotting transformation components, including rotation matrix elements (e, m, and n) and derived products from these matrices, as well as the representation of angular parameters (θ_i, ψ_i, and $\phi$_i) in a three-dimensional context. The proposed techniques not only facilitate the debugging and analysis of complex kinematic behaviors but also provide a flexible tool for researchers in robotics, computer graphics, and mechanical design. By offering a clear and interactive visualization strategy, this framework enhances the understanding of spatial relationships and transformation dynamics inherent in multi-body systems. Full article

The present paper elaborates on the development of a theory of discrete-time dynamical systems on finite-dimensional structured state spaces. Dynamical systems on structured state spaces possess well-known applications to solving differential equations in physics, and it was shown that discrete-time systems on finite- (albeit high-) dimensional structured state spaces possess solid applications to structured signal processing and nonlinear system identification, modeling and control. With reference to the state-space representation of dynamical systems, the present contribution tackles the core system-theoretic problem of determining suitable laws to express a system’s state transition. In particular, the present contribution aims at formulating a fairly general class of state-transition laws over the Lie algebra associated to a Lie group and at extending some properties of classical dynamical systems to process Lie-algebra-valued state signals. Full article

This paper presents a comprehensive RMS-based phasorial model of an E-STATCOM with grid-forming (GFM) control, designed to improve power system stability in isolated grids. Unlike previous approaches, this model integrates a governor with an internal power system stabilizer (PSS) and an active current limiter (ACL) to enhance frequency regulation and mitigate oscillations. Additionally, an exciter with a nonlinear modulation function is introduced to optimize voltage regulation and reactive power support. A detailed conventional supercapacitor (SC) model is also incorporated, enabling dynamic DC-voltage control based on active power variations, improving frequency stability. The proposed E-STATCOM RMS model includes algebraic equations, dynamic governor and exciter models, supercapacitor-based energy storage control, and an advanced current-limiting strategy. Simulations are conducted on the Fuerteventura–Lanzarote (Canary Islands, Spain) power system, comparing the E-STATCOM with a synchronous condenser (SynCon) in frequency response, voltage regulation, and fault performance. The results show that the E-STATCOM improves frequency stabilization and energy efficiency while complying with grid codes. This study introduces a novel RMS-based modeling approach for GFM E-STATCOMs, bridging the gap between theoretical phasorial analysis and real-world applications. The findings confirm that E-STATCOMs are a viable alternative to SynCons, enhancing grid stability in high-renewable-penetration systems. Full article

This paper deals with several nonlinear partial differential equations (PDEs) of mathematical physics such as the concatenation model (perturbed concatenation model) from nonlinear fiber optics, the plane hydrodynamic jet theory, the Kadomtsev–Petviashvili PDE from hydrodynamic (soliton theory) and others. For the equation of nonlinear optics, we look for solutions of the form amplitude Q multiplied by $e^{i\Phi }$, $\Phi$ being linear. Then, Q is expressed as a quadratic polynomial of some elliptic function. Such types of solutions exist if some nonlinear algebraic system possesses a nontrivial solution. In the other five cases, the solution is a traveling wave. It satisfies Abel-type ODE of the second kind, the first order ODE of the elliptic functions (the Weierstrass or Jacobi functions), the Airy equation, the Emden–Fawler equation, etc. At the end of the paper a short survey on the Jacobi elliptic and Weierstrass functions is included. Full article

We propose a wavelet collocation method for solving the fractional Riccati equation, using the Müntz–Legendre wavelet basis and its associated operational matrix of fractional integration. The fractional Riccati equation is first transformed into a Volterra integral equation with a weakly singular kernel. By employing the collocation method along with the operational matrix, we reduce the problem to a system of nonlinear algebraic equations, which is then solved using Newton–Raphson’s iterative procedure. The error estimate of the proposed method is analyzed, and numerical simulations are conducted to demonstrate its accuracy and efficiency. The obtained results are compared with existing approaches from the literature, highlighting the advantages of our method in terms of accuracy and computational performance. Full article

The nonhomogeneous Monge–Ampère equation, read as $w_{xx}{w}_{yy}-w_{xy}^2+h\left(w\right)=0$, is a nonlinear equation involving mixed second derivatives with respect to the spatial variables x and y, along with an additional source function $h\left(w\right)$. This equation is observed in several fields, including differential geometry, fluid dynamics, and magnetohydrodynamics. In this study, the Lie symmetry method is used to obtain a detailed classification of this equation. Symmetry analysis leads to a comprehensive classification of the equation, resulting in specific forms of the smooth source function $h\left(w\right)$. Furthermore, the one-dimensional optimal system of the associated Lie algebras is derived, allowing for symmetry reductions that yield several exact invariant solutions of the Monge–Ampère equation. In addition, conservation laws are constructed using the Noether approach, a highly effective and widely used method for deriving conserved quantities. These conservation laws can help evaluate the accuracy and reliability of numerical methods. Full article