Discontinuous friction and impact exist in a variety of piecewise-smooth dynamical systems that exhibit
rich and complex nonlinear phenomena. This paper aims to study the discontinuity-induced grazing and
adding-sliding bifurcations in a piecewise-smooth capsule system subjected to bidirectional drifts. For this
purpose, analytical ...
Discontinuous friction and impact exist in a variety of piecewise-smooth dynamical systems that exhibit
rich and complex nonlinear phenomena. This paper aims to study the discontinuity-induced grazing and
adding-sliding bifurcations in a piecewise-smooth capsule system subjected to bidirectional drifts. For this
purpose, analytical and semi-analytical onset conditions of the impact-induced grazing and the frictioninduced adding-sliding bifurcations are investigated by solving explicitly the underlying piecewise-linear
model. In this way, parametric relations revealing the occurrence mechanisms of transitions of the system
from stationary to forward progression can be derived. This analytical approach is verified numerically
using path-following techniques for piecewise-smooth dynamical systems. The numerical investigation
includes a parametric study of the observed average capsule velocity and power consumption suggesting
optimal choices for system operation.
