Abstract
In this work, Sparse Identification of Nonlinear Dynamics (SINDy) algorithm is generalized to nonlinear dynamic systems with multistable property. This study comes from the application of a bistable bionic joint. In its dynamical model reconstruction, we find that the classical SINDy fails due to the lacking ergodicity with tiny amount of time history signals. Aiming at the accuracy and precision of model reconstruction of multistable nonlinear dynamic systems, a generalized data-driven reconstruction method is proposed based on data assembly principle and sparsification parameter determination technique. The datasets are expanded by different initial conditions for the dynamics ergodic. Besides, to resolve the difficulty on the determination of sparsification parameter, a novel bi-objective optimization scheme considering both sparsity and accuracy of the reconstruction model is constructed. Based on the Pareto front and Knee point theory of the bi-objective optimization scheme, it provides the precisely determination technique for the sparsification parameter range. Two numerical examples are conducted on bistable and quad-stable nonlinear systems to verify the effectiveness of the generalized data-driven reconstruction method. Then, the experimental prototype of the bionic joint with bistable property is carried out, which possesses both geometric and constitutive nonlinearity. Assembling the experimental signals with measurement noise according to the proposed data assembly principle, the generalized reconstruction method proposed in this paper can capture the position of the stable equilibriums and accurately reconstruct the dynamic model of the bistable bionic joint. Since the ergodic dataset can be further extended, proposed reconstruction method for dynamic systems with multistable property has effectiveness and robustness. The generalized data-driven reconstruction method successfully solves the problems of non-ergodic data and undetermined sparsification parameter in the model reconstruction of multistable systems, which has potential applications of multistable nonlinear systems in the fields of robotics, deployable structures, etc.
Similar content being viewed by others
Data Availability
All data generated or analyzed during this study are included in this published article.
References
Wang, X., Zhou, H.Y., Kang, H.W., Au, W., Chen, C.: Bio-inspired soft bistable actuator with dual actuations. Smart Mater. Struct. 30, 125001 (2021)
Li, S.Y., Wang, K.W.: Fluidic origami with embedded pressure dependent multi-stability: a plant inspired innovation. J. R. Soc. Interface 12, 20150639 (2015)
Wu, S., Ze, Q.J., Dai, J.Z., Udipi, N., Paulino, G.H., Zhao, R.K.: Proc. stretchable origami robotic arm with omnidirectional bending and twisting, Multistable inflatable origami structures at the metre scale. Natl. Acad. Sci. USA 118, e2110023118 (2021)
Rothemund, P., Ainla, A., Belding, L., Preston, D.J., Kurihara, S., Suo, Z.G., Whitesides, G.M.: A soft, bistable valve for autonomous control of soft actuators. Sci. Robot. 3, eaar7986 (2018)
Wang, Y.Z., Gupta, U., Parulekar, N., Zhu, J.: A soft gripper of fast speed and low energy consumption. Sci. China-Technol. Sci. 62, 31 (2019)
Jin, T., Li, L., Wang, T.H., Wang, G.P., Cai, J.G., Tian, Y.Z., Zhang, Q.: Origami-inspired soft actuators for stimulus perception and crawling robot applications. IEEE Trans. Robot. 38, 748 (2022)
Jin, L., Khajehtourian, R., Mueller, J., Rafsanjani, A., Tournat, V., Bertoldi, K., Kochmann, D.M.: Guided transition waves in multistable mechanical metamaterials. Proc. Natl. Acad. Sci. USA 117, 2319 (2020)
Singh, N., van Hecke, M.: Design of pseudo-mechanisms and multistable units for mechanical metamaterials. Phys. Rev. Lett. 126, 248002 (2021)
Brunck, V., Lechenault, F., Reid, A., Adda-Bedia, M.: Elastic theory of origami-based metamaterials. Phys. Rev. E 93, 033005 (2016)
Karpov, E.G., Danso, L.A., Klein, J.T.: Negative extensibility metamaterials: occurrence and design-space topology. Phys. Rev. E 96, 023002 (2017)
Ji, J.C., Luo, Q., Ye, K.: Vibration control based metamaterials and origami structures: a state-of-the-art review. Mech. Syst. Signal Proc. 161, 107945 (2021)
Melancon, D., Gorissen, B., Garcia-Mora, C.J., Hoberman, C., Bertoldi, K.: Multistable inflatable origami structures at the metre scale. Nature 592, 545 (2021)
Arnouts, L.I.W., Massart, T.J., De Temmerman, N., Berke, P.Z.: Multi-objective optimisation of deployable bistable scissor structures. Autom. Constr. 114, 103154 (2020)
Zirbel, S.A., et al.: Accommodating thickness in origami-based deployable arrays. J. Mech. Des. 135, 111005 (2013)
Johnson, D.R., Harne, R.L., Wang, K.W.: a disturbance cancellation perspective on vibration control using a bistable snap-through attachment. J. Vib. Acoust.-Trans. ASME 136, 031006 (2014)
Yang, K., Harne, R.L., Wang, K.W., Huang, H.: Investigation of a bistable dual-stage vibration isolator under harmonic excitation. Smart Mater. Struct. 23, 045033 (2014)
Yan, B., Ma, H.Y., Jian, B., Wang, K., Wu, C.Y.: Nonlinear dynamics analysis of a bi-state nonlinear vibration isolator with symmetric permanent magnets. Nonlinear Dyn. 97, 2499 (2019)
Ye, K., Ji, J.C.: An origami inspired quasi-zero stiffness vibration isolator using a novel truss-spring based stack Miura-ori structure. Mech. Syst. Signal Proc. 165, 108383 (2022)
Yang, T., Cao, Q.J., Hao, Z.F.: A novel nonlinear mechanical oscillator and its application in vibration isolation and energy harvesting. Mech. Syst. Signal Proc. 155, 107636 (2021)
Filipov, E.T., Tachi, T., Paulino, G.H.: Origami tubes assembled into stiff, yet reconfigurable structures and metamaterials. Proc. Natl. Acad. Sci. USA 112, 12321 (2015)
Li, S.Y., Wang, K.W.: Fluidic origami: a plant-inspired adaptive structure with shape morphing and stiffness tuning. Smart Mater. Struct. 24, 105031 (2015)
Zhang, Q.W., Fang, H.B., Xu, J.: Programmable stopbands and supratransmission effects in a stacked Miura-origami metastructure. Phys. Rev. E 101, 042206 (2020)
Zareei, A., Deng, B.L., Bertoldi, K.: Harnessing transition waves to realize deployable structures. Proc. Natl. Acad. Sci. USA 117, 4015 (2020)
Liu, Y.D., Liu, B.H., Yin, T.H., Xiang, Y.H., Zhou, H.F., Qu, S.X.: Bistable rotating mechanism based on dielectric elastomer actuator. Smart Mater. Struct. 29, 015008 (2020)
Arnouts, L.I.W., De Temmerman, N., Massart, T.J., Berke, P.Z.: Geometric design of triangulated bistable scissor structures taking into account finite hub size. Int. J. Solids Struct. 206, 84 (2020)
García-Mora, C.J., Sánchez-Sánchez, J.: Geometric strategies to design a bistable deployable structure with straight scissors using stiff and flexible rods. Int. J. Solids Struct. 238, 111381 (2022)
Dai, W., Yang, J., Wiercigroch, M.: Vibration energy flow transmission in systems with Coulomb friction. Int. J. Mech. Sci. 214, 106932 (2022)
Brunton, S.L., Proctor, J.L., Kutz, J.N.: Discovering governing equations from data by sparse identification of nonlinear dynamical systems. Proc. Natl. Acad. Sci. USA 113, 3932 (2016)
Kaheman, K., Kutz, J.N., Brunton, S.L.: SINDy-PI: a robust algorithm for parallel implicit sparse identification of nonlinear dynamics. Proc. R. Soc. A-Math. Phys. Eng. Sci. 476, 20200279 (2020)
Li, S., Kaiser, E., Laima, S., Li, H., Brunton, S.L., Kutz, J.N.: Discovering time-varying aerodynamics of a prototype bridge by sparse identification of nonlinear dynamical systems. Phys. Rev. E 100, 022220 (2019)
Chu, H.K., Hayashibe, M.: Discovering interpretable dynamics by sparsity promotion on energy and the Lagrangian. IEEE Robot. Autom. Lett. 5, 8977323 (2020)
Kaiser, E., Kutz, J.N., Brunton, S.L.: Data-driven discovery of Koopman eigenfunctions for control. Mach. Learn.-Sci. Technol. 2, 035023 (2021)
Bhattacharya, D., Chen, L.K., Xu, W.L.: Sparse machine learning discovery of dynamic differential equation of an esophageal swallowing robot. IEEE Trans. Ind. Electron. 67, 8765629 (2020)
Rudy, S.H., Brunton, S.L., Proctor, J.L., Kutz, J.N.: Data-driven discovery of partial differential equations. Sci. Adv. 3, e1602614 (2017)
Guan, Y.F., Brunton, S.L., Novosselov, I.: Sparse nonlinear models of chaotic electroconvection. R. Soc. Open Sci. 8, 202367 (2021)
Kaptanoglu, A.A., Callaham, J.L., Aravkin, A., Hansen, C.J., Brunton, S.L.: Promoting global stability in data-driven models of quadratic nonlinear dynamics. Phys. Rev. Fluids 6, 094401 (2021)
Mendible, A., Koch, J., Lange, H., Brunton, S.L., Kutz, J.N.: Data-driven modeling of rotating detonation waves. Phys. Rev. Fluids 6, 050507 (2021)
Qian, J., Sun, X., Xu, J., Fang, H.: Design and dynamic analysis of a novel bio-inspired erecting structure. Chin. J. Theor. Appl. Mech. 53, 2023–2036 (2021). (in Chinese)
Tusar, T., Filipic, B.: Visualization of Pareto front approximations in evolutionary multiobjective optimization: a critical review and the prosection method. IEEE Trans. Evol. Comput. 19, 6777535 (2015)
Hua, Y.C., Liu, Q.Q., Hao, K.R., Jin, Y.C.: A survey of evolutionary algorithms for multi-objective optimization problems with irregular Pareto fronts. IEEE-CAA J. Automatica Sin. 8, 9321268 (2021)
Deb, K., Gupta, S.: Understanding knee points in bicriteria problems and their implications as preferred solution principles. Eng. Optim. 43, 1175 (2011)
Das, I.: On characterizing the “knee” of the Pareto curve based on Normal-Boundary Intersection. Struct. Optim. 18, 107 (1999)
Branke, E., Deb, K., Dierolf, H., Osswald, M.: Finding knees in multi-objective optimization, vol 3242, p 722. Berlin (2004)
Chartrand, R.: Numerical differentiation of noisy, nonsmooth data. ISRN Appl. Math. 2011, 164564 (2011)
Acknowledgements
The authors would like to gratefully acknowledge the support from the National Natural Science Foundation of China under Grants 12122208, 11972254, 11932015.
Funding
The funding was provided by National Natural Science Foundation of China (Grant Nos. 12122208, 11972254, 11932015).
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Qian, J., Sun, X. & Xu, J. A data-driven reconstruction method for dynamic systems with multistable property. Nonlinear Dyn 111, 4517–4541 (2023). https://doi.org/10.1007/s11071-022-08082-2
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11071-022-08082-2