Submitted by Franciele Moreira (francielemoreyra@gmail.com) on 2018-03-28T11:58:56Z No. of bitstreams: 2 Dissertação - Jeferson Arley Poveda Contreras - 2018.pdf: 763599 bytes, checksum: 6800571168e0aa9de85d151e4c912725 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2018-03-29T11:29:24Z (GMT) No. of bitstreams: 2 Dissertação - Jeferson Arley Poveda Contreras - 2018.pdf: 763599 bytes, checksum: 6800571168e0aa9de85d151e4c912725 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Made available in DSpace on 2018-03-29T11:29:24Z (GMT). No. of bitstreams: 2 Dissertação - Jeferson Arley Poveda Contreras - 2018.pdf: 763599 bytes, checksum: 6800571168e0aa9de85d151e4c912725 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2018-03-07 / Conselho Nacional de Pesquisa e Desenvolvimento Científico e Tecnológico - CNPq / The goal of this work is study limit cycles of piecewise smooth vector fields. First, we present the basic theory, passing through the areas of analysis, qualitative theory of differential equations and algebra. We also present basic concepts of Filippov fields, which are indispensable for the study of piecewise smooth fields. In chapter one, was the main topic, a general method for finding limit cycles will be described; in the second chapter limit cycles are found in a piecewise smooth vector field with non-degenerate center being perturbed by a piecewise polynomial vector field. In the fourth chapter, we study limit cycles in piecewise smooth Hamiltonian fields. / O objetivo deste trabalho é estudar ciclos limite de campos de vetores suaves por parte. Primeiro apresentaremos a teoria básica, passando pelas áreas de análise, teoria qualitativa das equações diferenciais e álgebra. Apresentamos também conceitos básicos de campos de Filippov, os quais são imprescindíveis para o estudo dos campos suaves por partes. No capítulo dos, como tópico principal, será descrito um método geral para encontrar ciclos limite; no segundo três são encontrados ciclos limites em um campo de vetores suave por partes com um centro não degenerado sendo perturbado por um polinômio. No quarto capitulo estudaremos os ciclos limites de campos de vetores Hamiltonianos por parte.

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In this thesis, we study the Filippov moments solution for differential equations with discontinuous right-hand side. In particular, our aim is to define a suitable Filippov sliding vector field on a co-dimension $2$ manifold $\Sigma$, intersection of two co-dimension $1$ manifolds with linearly independent normals, and then to study the dynamics provided by this selection. More specifically, we devote Chapter 1 to motivate our interest in this subject, presenting several problems from control theory, non-smooth dynamics, vehicle motion and neural networks. We then introduce the co-dimension $1$ case and basic notations, from which we set up, in the most general context, our specific problem. In Chapter 2 we propose and compare several approaches in selecting a Filippov sliding vector field for the particular case of $\Sigma$ nodally attractive: amongst these proposals, in Chapter 3 we focus on what we called \emph{moments solution}, that is the main and novel mathematical object presented and studied in this thesis. There, we extend the validity of the moments solution to $\Sigma$ attractive under general sliding conditions, proving interesting results about the smoothness of the Filippov sliding vector field on $\Sigma$, tangential exit at first-order exit points, uniqueness at potential exit points among all other admissible solutions. In Chapter 4 we propose a completely new and different perspective from which one can look at the problem: we study minimum variation solutions for Filippov sliding vector fields in $\R^{3}$, taking advantage of the relatively easy form of the Euler-Lagrange equation provided by the analysis, and of the orbital equivalence that we have in the eventuality $\Sigma$ does not have any equilibrium points on it; we further remove this assumption and extend our results. In Chapter 5 examples and numerical implementations are given, with which we corroborate our theoretical results and show that selecting a Filippov sliding vector field on $\Sigma$ without the required properties of smoothness and exit at first-order exit points ends up dynamics that make no sense, developing undesirable singularities. Finally, Chapter 6 presents an extension of the moments method to co-dimension $3$ and higher: this is the first result which provides a unique admissible solution for this problem.

Hydraulic manipulators commonly interact with environments that are highly unstructured, and thus rely on the intelligence of human operators to provide proper commands. Typically, operators use visual information, directly or through cameras, to perform a task. Providing haptic or touch sensation about the task environment to the operator, enhances her/his ability to perform telemanipulation. The focus of this thesis is on haptic teleoperation of hydraulic manipulators. The application is directed at live transmission line maintenance tasks. In this thesis, both unilateral and bilateral haptic teleoperation of hydraulic manipulators are investigated. On the unilateral telemanipulation front, position error is shown to be an important issue in performing repetitive tasks. The most important sources of inaccuracy in position are sensors, robot controller performance, and the operator. To reduce the human operator’s errors, the concept of virtual fixtures is adopted in this research. It is shown that virtual fixtures can help operators perform routine tasks related to live line maintenance. Stability and telepresence are the main issues in reference to bilateral control. Three stable bilateral control schemes are designed for haptic teleoperation of hydraulic actuators considering nonlinear dynamics of hydraulic actuation, haptic device, and the operator. For each control scheme, stability of the entire control system is proven theoretically by constructing a proper Lyapunov function. Due to the discontinuity originating from a sign function in the control laws, the proposed control systems are non-smooth. Thus, the existence, continuation, and uniqueness of Filippov’s solution to the system are first proven for each control system. Next, the extensions of Lyapunov’s stability theory to non-smooth systems and LaSalle’s invariant set theorems are employed to prove the asymptotic stability of the control systems. In terms of telepresence, two types of haptic sensation are provided to the operator: (i) haptic based on the reflected interaction force, and (ii) haptic based on the position error. Performances of all proposed controllers are validated by experimental results on a hydraulic actuator controlled by a haptic device. It is shown that besides stability, the hydraulic actuator performs well in terms of position tracking while the haptic device provides telepresence for the operator.

Hydraulic manipulators commonly interact with environments that are highly unstructured, and thus rely on the intelligence of human operators to provide proper commands. Typically, operators use visual information, directly or through cameras, to perform a task. Providing haptic or touch sensation about the task environment to the operator, enhances her/his ability to perform telemanipulation. The focus of this thesis is on haptic teleoperation of hydraulic manipulators. The application is directed at live transmission line maintenance tasks. In this thesis, both unilateral and bilateral haptic teleoperation of hydraulic manipulators are investigated. On the unilateral telemanipulation front, position error is shown to be an important issue in performing repetitive tasks. The most important sources of inaccuracy in position are sensors, robot controller performance, and the operator. To reduce the human operator’s errors, the concept of virtual fixtures is adopted in this research. It is shown that virtual fixtures can help operators perform routine tasks related to live line maintenance. Stability and telepresence are the main issues in reference to bilateral control. Three stable bilateral control schemes are designed for haptic teleoperation of hydraulic actuators considering nonlinear dynamics of hydraulic actuation, haptic device, and the operator. For each control scheme, stability of the entire control system is proven theoretically by constructing a proper Lyapunov function. Due to the discontinuity originating from a sign function in the control laws, the proposed control systems are non-smooth. Thus, the existence, continuation, and uniqueness of Filippov’s solution to the system are first proven for each control system. Next, the extensions of Lyapunov’s stability theory to non-smooth systems and LaSalle’s invariant set theorems are employed to prove the asymptotic stability of the control systems. In terms of telepresence, two types of haptic sensation are provided to the operator: (i) haptic based on the reflected interaction force, and (ii) haptic based on the position error. Performances of all proposed controllers are validated by experimental results on a hydraulic actuator controlled by a haptic device. It is shown that besides stability, the hydraulic actuator performs well in terms of position tracking while the haptic device provides telepresence for the operator.

Differential systems appear modelling many natural phenomena in different branches of sciences, in biological and physical applications among other areas. Differential systems usually have invariant curves and we can obtain a better description of the qualitative behaviour of their solutions using them. Such invariant curves may be algebraic or not and in the case where they are closed, isolated in the set of periodic orbits and without singular points, they are called limit cycles. There is a very famous problem, proposed by David Hilbert in 1900 what ask about the maximum number of limit cycle that all polynomial differential systems of a given degree could present. In this work we investigate the existence of some invariant curves in quadratic polynomial differential systems and in discontinuous piecewise differential systems (they are known as Filippovs systems). Even after hundreds of studies on the phase portraits of real planar quadratic vector fields the complete characterization of their phase portraits is a quite complex task, they depend on twelve parameters, after affine transformations and time rescaling, we have families with five parameters, which is still a large number. So many subclasses have been considered instead of the complete system. In this work we investigate conditions under the parameters of the system for a planar quadratic differential system present invariant algebraic curve of degree 3 (a cubic curve) and a Darboux invariant and obtain all the topological non-equivalent phase portraits of these systems. The increasing interest in the theory of nonsmooth vector fields has been mainly motivated by their strong relation with physics, engineering, biology, economy, and other branches of sciences. In the study of the Filippovs systems, we investigate the number of periodic orbits that they can present. In this study we apply the averaging theory. Such theory is used to study some classical models and we also present generalization of such technique for a class of nonsmooth systems. In addition, we also show how the LyapunovSchmidt reduction method can be used to consider cases where the averaging theory is not sufficient to study periodic solutions. / Sistemas diferenciais aparecem na modelagem de muitos fenômenos naturais em diferentes ramos da ciência, em aplicações biológicas e físicas, entre outras áreas. Sistemas diferenciais geralmente possuem curvas invariantes e podemos obter uma melhor descrição do comportamento qualitativo de suas soluções utilizando-as. Tais curvas invariantes podem ser algébricas ou não e, no caso de serem fechadas, isoladas no conjunto de órbitas periódicas e sem pontos singulares, são chamadas de ciclos limites. Há um problema muito famoso, proposto por David Hilbert em 1900, que questiona o número máximo de ciclos limites que os sistemas diferenciais polinomiais de um determinado grau poderiam apresentar. Neste trabalho investigamos a existência de algumas curvas invariantes em sistemas diferenciais polinomiais quadráticos e em sistemas diferenciais contínuos por partes (eles são conhecidos como sistemas de Filippov). Mesmo após centenas de estudos sobre os retratos de fase dos campos vetoriais reais planares e quadráticos, a caracterização completa de seus retratos de fase é uma tarefa bastante complexa. Eles dependem de doze parâmetros e após transformações afins e reescalonamento de tempo, temos famílias com cinco parâmetros, o que ainda é um grande número. Assim muitas subclasses tem sido consideradas em vez do sistema completo. Neste trabalho investigamos condições sob os parâmetros do sistema para que um sistema diferencial planar quadrático apresente uma curva algébrica invariante de grau 3 (curva cúbica) e um invariante de Darboux e obtemos todos os retratos de fase não equivalentes destes sistemas. O crescente interesse na teoria dos campos de vetores suaves por partes tem sido motivado, principalmente, por sua forte relação com a física, engenharia, biologia, economia e outros ramos das ciências. No estudo dos sistemas de Filippov, investigamos o número de órbitas periódicas que eles podem apresentar. Para este estudo, aplicamos a teoria do averaging. Tal teoria é usada para estudar alguns modelos clássicos e também apresentamos a generalização de tal técnica para uma classe de sistemas suaves por partes. Além disso, mostramos também como o método de redução de Lyapunov Schmidt pode ser usado para considerar casos em que a teoria do averaging sozinha não é suficiente para estudar soluções periódicas.

Submitted by Otávio Henrique Perez null (otavio_perez@hotmail.com) on 2017-03-03T20:13:38Z No. of bitstreams: 1 DissertacaoOtavioHenriquePerez.pdf: 2570606 bytes, checksum: dd0f73a1627a83d453f101ef3a973d23 (MD5) / Approved for entry into archive by LUIZA DE MENEZES ROMANETTO (luizamenezes@reitoria.unesp.br) on 2017-03-09T17:45:41Z (GMT) No. of bitstreams: 1 perez_oh_me_sjrp.pdf: 2570606 bytes, checksum: dd0f73a1627a83d453f101ef3a973d23 (MD5) / Made available in DSpace on 2017-03-09T17:45:41Z (GMT). No. of bitstreams: 1 perez_oh_me_sjrp.pdf: 2570606 bytes, checksum: dd0f73a1627a83d453f101ef3a973d23 (MD5) Previous issue date: 2017-02-23 / Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) / Neste trabalho iremos abordar aspectos qualitativos e geométricos a respeito de campos de vetores suaves por partes. Nosso foco será estudar bifurcações locais e globais de codimensão um e dois e também algumas relações de equivalência para campos vetoriais suaves por partes definidos no plano. Classificaremos e caracterizaremos bifurcações genéricas por meio do retrato de fase e do diagrama de bifurcação dos campos envolvidos. Também faremos uma breve introdução sobre Sistemas Slow-Fast. / In this work we study qualitative and geometric aspects of piecewise smooth vector fields. Our focus is to study local and global bifurcations of codimension one and two and some equivalence relations for piecewise smooth vector fields defined on the plane. We will classify and characterize generic bifurcations using the phase portrait and the bifurcation diagram of the vector fields involved. We also incorporate a brief introduction about Slow-Fast Systems. / FAPESP: 2014/18707-6

Traditionally, differential-equation models for population dynamics have considered organisms as "fixed" entities in terms of their behaviour and characteristics. However, there have been many observations of adaptivity in organisms, both at the level of behaviour and as an evolutionary change of traits, in response to the environmental conditions. Taking such adaptiveness into account alters the qualitative dynamics of traditional models and is an important factor to be included, for example, when developing reliable model predictions under changing environmental conditions. In this thesis, we consider piecewise-smooth and smooth dynamical systems to represent adaptive change in a 1 predator-2 prey system. First, we derive a novel piecewise-smooth dynamical system for a predator switching between its preferred and alternative prey type in response to prey abundance. We consider a linear ecological trade-off and discover a novel bifurcation as we change the slope of the trade-off. Second, we reformulate the piecewise-smooth system as two novel 1 predator-2 prey smooth dynamical systems. As opposed to the piecewise-smooth system that includes a discontinuity in the vector fields and assumes that a predator switches its feeding strategy instantaneously, we relax this assumption in these systems and consider continuous change in a predator trait. We use plankton as our reference organism because they serve as an important model system. We compare the model simulations with data from Lake Constance on the German-Swiss-Austrian border and suggest possible mechanistic explanations for cycles in plankton concentrations in spring.

Submitted by CLAYTON EDUARDO LENTE DA SILVA null (claedu@gmail.com) on 2016-06-02T17:41:44Z No. of bitstreams: 1 TeseFinalClayton.pdf: 1339813 bytes, checksum: 78fb3fb4fd37414af7b1a14dd1d3a122 (MD5) / Approved for entry into archive by Juliano Benedito Ferreira (julianoferreira@reitoria.unesp.br) on 2016-06-06T16:37:20Z (GMT) No. of bitstreams: 1 silva_cel_dr_sjrp.pdf: 1339813 bytes, checksum: 78fb3fb4fd37414af7b1a14dd1d3a122 (MD5) / Made available in DSpace on 2016-06-06T16:37:20Z (GMT). No. of bitstreams: 1 silva_cel_dr_sjrp.pdf: 1339813 bytes, checksum: 78fb3fb4fd37414af7b1a14dd1d3a122 (MD5) Previous issue date: 2016-05-20 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Nesta tese estudamos sistemas dinâmicos não suaves autônomos e não autônomos. Consideramos inicialmente sistemas quadráticos positivamente limitados autônomos planares e damos condições sobre os campos para que o sistema de Filippov correspondente seja limitado. Também estudamos uma classe de sistemas quadráticos e provamos que, sob algumas restrições nos coeficientes da parte linear, os sistemas de Filippov relacionados são limitados. Em seguida, consideramos sistemas não autônomos e damos condições para a existência de soluções periódicas de uma classe de equações diferenciais ordinárias não autônomas. Por fim, consideramos equações diferenciais ordinárias não autônomas de segunda ordem genéricas, relacionadas a sistemas não suaves e não autônomos, estudamos o conceito de solução destas equações e damos condições analíticas que são satisfeitas por soluções típicas, como as soluções deslizantes, por exemplo. A unicidade de soluções para estas equações também é estudada. / In this thesis we study autonomous and non-autonomous non-smooth dynamical systems. We initially consider planar autonomous positively bounded quadratic systems. We give conditions on the vector fields for that the correspondent Filippov system be bounded. We also study a class of quadratic systems and we prove that, under some restrictions on the coefficients of linear part, the related Filippov systems are bounded. We then consider non-autonomous systems and we give conditions for the existence of periodic solutions of a certain class of non-autonomous ordinary differential equations. Finally we consider generic non-autonomous second order differential equations and we study the concept of solution of these equations and determine analytical conditions that are satisfied by typical solutions, sliding solutions for instance. Moreover, the uniqueness of solutions for these equations is studied.