Startseite Mathematik Stability Problems and Analytical Integration for the Clebsch’s System
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Stability Problems and Analytical Integration for the Clebsch’s System

  • Camelia Pop und Remus-Daniel Ene EMAIL logo
Veröffentlicht/Copyright: 9. April 2019

Abstract

The nonlinear stability and the existence of periodic orbits of the equilibrium states of the Clebsch’s system are discussed.. Numerical integration using the Lie-Trotter integrator and the analytic approximate solutions using Multistage Optimal Homotopy Asymptotic Method are presented, too.

MSC 2010: 34H15; 65Nxx; 65P40; 70H14; 74G10; 74H10

1 Introduction

The Clebsch’s system was proposed in 1870 (see [1] for details) and it represents a specific famous case of the Kirchoff equations which describes the motion of a rigid body in an ideal fluid. The Clebsch’s case was obtained from the equations:

x.=x×Hp,p.=x×Hx+p×Hp (1)

by taking the quadratic Hamiltonian

H=12i=13aipi2+cixi2,

where

c2c3a1+c3c1a2+c1c2a3=0.

The physical meaning of p is the total angular momentum, whereas x represents the total linear momentum of the system.

If we consider now the Hamiltonian

H1=12i=13pi2+aixi2, (2)

the equations (1) become:

x1.=x2p3x3p2x2.=x3p1x1p3x3.=x1p2x2p1p1.=(a3a2)x2x3p2.=(a1a3)x1x3p3.=(a2a1)x1x2 (3)

where a1, a2, a3 are different and nonzero constants. It is well-known that its first integrals are:

H2=12(x12+x22+x32),
H3=x1p1+x2p2+x3p3,

and

H4=12(a1p12+a2p22+a3p32a2a3x12a1a3x22a1a2x32).

During the time since its publication, a lot of problems about the Clebsch’s system have been studied like its almost Lie-Poisson structure ([2]), the Lax formulation ([3]) or its Hirota-Kimura type discretization ([4]).

The paper’s structure is as follows: first, the nonlinear stability of the equilibrium states of Clebsch’s dynamics is discussed. About this problem, only partial results were found in [2] due to the fact that the existence of a Hamilton-Poisson structure is still an open problem, and for the almost Hamilton-Poisson structure proposed only one Casimir function was found instead of two. We use here the Arnold’s method in order to obtain some new results, which does not require a Hamilton-Poisson structure. The existence of the periodic orbits around the nonlinear stable states is the subject of the second part. The last part is committed to the numerical and analytical integration. Two methods are proposed: the Lie-Trotter integrator for numerical integration and the Multistage Optimal Homotopy Asymptotic Method to find the analytic approximate solutions. Numerical simulations obtained via Mathematica 10 are presented, too.

2 Stability problems

The equilibrium states of the dynamics (3) are

e1M,N=(M,0,0,N,0,0),e2M,N=(0,M,0,0,N,0),e3M,N=(0,0,M,0,0,N),
e4M,N,P=(0,0,0,M,N,P),M,N,PR.

Proposition 1

If a1 < a2 and a1 < a3 then the equilibrium states e1M,M are nonlinear stable.

Proof

We shall make the proof using Arnold’s method ([5]).

Let Fα,β,γC (R6, R) given by

Fα,β,γ=H1+αH2+βH3+γH4.

Following Arnold’s method, we have successively:

Fα,β,γ( e1M,M ) = 0 iff α = 1 − a1, β = − 1, γ = 0.

Considering the space

X=Ker(dH2)e1M,MKer(dH3)e1M,MKer(dH4)e1M,M
=span010000,001000,000010,000001

then

vt2F1a1,1,0e1M,Mv=(a2a1)a2+(a3a1)b2+(ac)2+(bd)2,

for any vX, i.e. v=0ab0cdt , so

2F1a1,1,0e1M,MX×X

is positive definite if a1 < a2 and a1 < a3. □

Using the same arguments we obtain the following results:

Proposition 2

The equilibrium states e2M,M are nonlinearly stable if a2 < a1 and a2 < a3.

Proposition 3

The equilibrium states e3M,M are nonlinearly stable if a3 < a1 and a3 < a2.

Proposition 4

The equilibrium states e4M,N,P are nonlinearly stable for any M, N, PR.

Proof

For this case we consider the function Gα,βC (R6, R),

Gα,β=H2+αH1+βH4.

Following Arnold’s method, we have successively:

Gα,β( e4M,N,P ) = 0 iff α = 0, β = 0.

Let us consider the space

Y=Ker(dH1)e4M,N,PKer(dH4)e1M,N,P
=span000100,000010,000001

then

vt2G0,0e4M,N,Pv=a2+b2+c2,

for any vY, i.e. v=000abct , so

2G0,0e4M,N,PY×Y

is positive definite.□

3 Periodic orbits

Proposition 5

If a1 < a2 and a1 < a3 then, near to e1M,M = (M, 0, 0, M, 0, 0), the reduced dynamics have, for each sufficiently small value of the reduced energy, at least one periodic solution whose period is close to 2πλ , where

λ=M2a1a2a3114a1+2a2+a22+2a32a2a3+a322.

Proof

We use the Moser-Weinstein theorem with zero eigenvalue, see [6] for details:

  1. The restriction of our dynamics (3) to the coadjoint orbit:

    x12+x22+x32=M2,
    x1p1+x2p2+x3p3=M2,
    a1p12+a2p22+a3p32a2a3x12a1a3x22a1a2x32=(a1a2a3)M2

    gives rise to a classical Hamiltonian system.

  2. The matrix of the linear part of the reduced dynamics is:

    A=0p3p20x3x2p30p1x30x1p2p10x2x100(a3a2)x3(a3a2)x2000(a1a3)x30(a1a3)x1000(a2a1)x2(a2a1)x10000|e1M,M=
    =00000000M00M0M00M000000000(a1a3)M0000(a2a1)M0000

    and has purely imaginary roots. More exactly:

    λ1,2=0,λ3,4,5,6=±iM14a1+2a2+a22+2a32a2a3+a32+1+a2+a32a12.
  3. span (∇H2( e1M,M ), ∇H3( e1M,M ), ∇H4( e1M,M )) = V0 = span100000,000100, , where

    V0=ker(A(e1M,M)).
  4. The smooth function F1−a1,−1,0C (R6, R) given by

    F1a1,1,0=H1+(1a1)H2H3

has the following properties:

  • It is a constant of motion of the dynamics (3).

  • F1−a1,−1,0( e1M,M ) = 0.

  • If a1 < a2 and a1 < a3 then

    2F1a1,1,0(e1M,M)X×X>0,

where

X:=Ker(dH2)e1M,MKer(dH3)e1M,MKer(dH4)e1M,M
=span010000,001000,000010,000001.

Then our assertion follows. □

Using similar arguments, the following results hold:

Proposition 6

If a2 < a1 and a2 < a3 then near to e2M,M = (0, M, 0, 0, M, 0), the reduced dynamics has, for each sufficiently small value of the reduced energy, at least one periodic solution whose period is close to 2πω , where

ω=M2a2a1a3114a2+2a3+a12+2a12a1a3+a322.

Proposition 7

If a3 < a1 and a3 < a2 then near to e3M,M = (0, 0, M, 0, 0, M), the reduced dynamics has, for each sufficiently small value of the reduced energy, at least one periodic solution whose period is close to 2πσ , where

σ=M2a3a1a211+2a24a3+a22+2a12a1a2+a322.

Remark 1

The existence of periodic orbits around the equilibrium states e4M,N,P remains an open problem. Due to the fact that the states e4M,N,P are not regular points for the Hamiltonian H2, the method described above does not work.

4 Numerical integration

We shall discuss now the numerical integration of the equations (3) via the Lie-Trotter formula ([7]).

Figures 1 and 2 present numerical simulations obtained with MATHEMATICA 10.

Figure 1 
 The Lie-Trotter integrator of the system (3), projection on (Ox1x2x3) plane (a1 = 10, a2 = 2, a3 = 3, x1(0) = x2(0) = x3(0) = p1(0) = p2(0) = p3(0) = 1).
Figure 1

The Lie-Trotter integrator of the system (3), projection on (Ox1x2x3) plane (a1 = 10, a2 = 2, a3 = 3, x1(0) = x2(0) = x3(0) = p1(0) = p2(0) = p3(0) = 1).

Figure 2 
The Lie-Trotter integrator of the system (3), projection on (Op1p2p3) plane (a1 = 10, a2 = 2, a3 = 3, x1(0) = x2(0) = x3(0) = p1(0) = p2(0) = p3(0) = 1).
Figure 2

The Lie-Trotter integrator of the system (3), projection on (Op1p2p3) plane (a1 = 10, a2 = 2, a3 = 3, x1(0) = x2(0) = x3(0) = p1(0) = p2(0) = p3(0) = 1).

Following [2] or [7], the Lie-Trotter integrator can be written as:

x1n+1x2n+1x3n+1p1n+1p2n+1p3n+1t= (4)
=A1(t)A2(t)A3(t)B1(t)B2(t)B3(t)x1nx2nx3np1np2np3nt,

where

A1(t)=10000001000000100000010000a1x1(0)t0100a1x1(0)t0001,A2(t)=10000001000000100000a2x2(0)t100000010a2x2(0)t00001,A3(t)=1000000100000010000a3x3(0)t0100a3x3(0)t00010000001,B1(t)=1000000cosp1(0)tsinp1(0)t0000sinp1(0)tcosp1(0)t000000100000010000001,B2(t)=cosp2(0)t0sinp2(0)t000000000sinp2(0)t0cosp2(0)t000000100000010000001,B3(t)=cosp3(0)tsinp3(0)t0000sinp3(0)tcosp3(0)t0000000000000100000010000001.

Some of its properties are sketched in the following proposition:

Proposition 8

The numerical integrator (4) preserves the Hamiltonians H1, H2, H3 and H4 if

x1(0)=x2(0)=x3(0)=0

and

p1(0)=p2(0)=p3(0)=0.

5 Analytic approximate solutions of the Clebsch System (3) using Multistage Optimal Homotopy Asymptotic Method

In order to find the analytical approximate solutions of the nonlinear differential system (3) with the boundary conditions

xi(0)=Ai,pi(0)=Ai+3,i=1,3¯, (5)

we will use the Multistage Optimal Homotopy Asymptotic Method (MOHAM) [8], as follows:

  1. we divide the theoretical interval [t0, T] into some subintervals as [t0, t1), …, [tj−1, tj), …, where tj = T;

  2. we apply the Optimal Homotopy Asymptotic Method (OHAM) [9, 10] to find the first-order approximate solutions using only one iteration.

The initial approximation in each interval [tj−1, tj), j ∈ ℕ* is provided by the solution from the previous interval, so the analytical approximate solutions can be obtained for equations of the general form

L(F(t))+N(F(t))=0, (6)

subject to the initial conditions (5), where 𝓛 is a linear operator (which is not unique) and 𝓝 is a nonlinear one.

Now, choosing the linear operators 𝓛 as:

Lx1(t)=x˙1b3x2(t)+b2x3(t),Lx2(t)=x˙2b1x3(t)+b3x1(t),Lx3(t)=x˙3b2x1(t)+b1x2(t),Lp1(t)=p˙1(a3a2)x2(t)x3(t),Lp2(t)=p˙2(a1a3)x1(t)x3(t),Lp3(t)=p˙3(a2a1)x1(t)x2(t), (7)

and the nonlinear operators 𝓝[xi(t)] and 𝓝[pi(t)], i = 1, 3 as

Nx1(t)=b3x2(t)b2x3(t)+x2(t)p3(t)x3(t)p2(t),Nx2(t)=b1x3(t)b3x1(t)+x3(t)p1(t)x1(t)p3(t),Nx3(t)=b2x1(t)b1x2(t)+x1(t)p2(t)x2(t)p1(t),Np1(t)=0,Np2(t)=0,Np3(t)=0, (8)

b1, b2, b3R, and following [9, 10] we are able to construct the homotopy given by:

H[L(F(t,p)),H(t,Ci),N(F(t,p))], (9)

where p ∈ [0, 1] is the embedding parameter, and H(t, Ci) ≠ 0 is an auxiliary convergence-control function, depending of the variable t and the parameters C1, C2, …, Cs.

The following properties hold:

H[L(F(t,0)),H(t,Ci),N(F(t,0))]=L(F(t,0))=L(F0(t)) (10)

and

H[L(F(t,1)),H(t,Ci),N(F(t,1))]=H(t,Ci)N(F(t,1)). (11)

For the functions F of the form

F(t,p)=F0(t)+pF1(t,Ci), (12)

the following relation is obtained:

H[L(F(t,p)),H(t,Ci),N(F(t,p))]=0. (13)

Considering the homotopy 𝓗 given by:

H[L(F(t,p)),H(t,Ci),N(F(t,p))]=L(F0(t))++p[L(F1(t,Ci))H(t,Ci)N(F0(t))], (14)

and using the linear operator given by Eq. (7), the solutions of the equation

L(F0(t))=0,B(F0(t),dF0(t)dt)=0 (15)

for the initial approximations xi0 and pi0, i = 1, 3 respectively, are

x10(t)=M1+N1cos(ω0t)+P1sin(ω0t)x20(t)=M2+N2cos(ω0t)+P2sin(ω0t)x30(t)=M3+N3cos(ω0t)+P3sin(ω0t)p10(t)=14ω04A4ω04b1ω04a2M3P2+4a3M3P2a2N3P2+a3N3P24a2M2P3++4a3M2P3a2N2P3+a3N2P3+(4a2M2M3+4a3M2M32a2N2N3+2a3N2N32a2P2P3+2a3P2P3)tω0+(4a2M3P24a3M3P2+4a2M2P34a3M2P3)cos(ω0t)++(a2N3P2a3N3P2+a2N2P3a3N2P3)cos(2ω0t)+(4a2M3N2+4a3M3N24a2M2N3++4a3M2N3)sin(ω0t)+(a2N2N3+a3N2N3+a2P2P3a3P2P3)sin(2ω0t)p20(t)=14ω04A5ω04b2ω0+4a1M3P14a3M3P1+a1N3P1a3N3P1+4a1M1P34a3M1P3+a1N1P3a3N1P3+(+4a1M1M34a3M1M3+2a1N1N32a3N1N3++2a1P1P32a3P1P3)tω0+(4a1M3P1+4a3M3P14a1M1P3+4a3M1P3)cos(ω0t)++(a1N3P1+a3N3P1a1N1P3+a3N1P3)cos(2ω0t)+(4a1M3N14a3M3N1+4a1M1N34a3M1N3)sin(ω0t)+(a1N1N3a3N1N3a1P1P3+a3P1P3)sin(2ω0t)p30(t)=14ω04A6ω04b3ω04a1M2P1+4a2M2P1a1N2P1+a2N2P14a1M1P2++4a2M1P2a1N1P2+a2N1P2+(4a1M1M2+4a2M1M22a1N1N2+2a2N1N22a1P1P2+2a2P1P2)tω0+(4a1M2P14a2M2P1+4a1M1P24a2M1P2)cos(ω0t)++(a1N2P1a2N2P1+a1N1P2a2N1P2)cos(2ω0t)+(4a1M2N1+4a2M2N14a1M1N2++4a2M1N2)sin(ω0t)+(a1N1N2+a2N1N2+a1P1P2a2P1P2)sin(2ω0t) (16)

where

ω0=b12+b22+b32,
M1=(A1b1+A2b2+A3b3)b1b12+b22+b32,M2=(A1b1+A2b2+A3b3)b2b12+b22+b32,M3=(A1b1+A2b2+A3b3)b3b12+b22+b32,
N1=A1b22+A1b32A2b1b2A3b1b3b12+b22+b32,N2=A2b12+A2b32A1b1b2A3b2b3b12+b22+b32,N3=A3b12+A3b22A1b1b3A2b2b3b12+b22+b32,
P1=(A2b3A3b2)b12+b22+b32b12+b22+b32,P2=(A3b1A1b3)b12+b22+b32b12+b22+b32,P3=(A1b2A2b1)b12+b22+b32b12+b22+b32.

The secular terms must be equal to zero, i.e.:

4a2M2M3+4a3M2M32a2N2N3+2a3N2N32a2P2P3+2a3P2P3=0,4a1M1M34a3M1M3+2a1N1N32a3N1N3+2a1P1P32a3P1P3=0

and

4a1M1M2+4a2M1M22a1N1N2+2a2N1N22a1P1P2+2a2P1P2=0,

respectively.

Also, to compute F1(t, Ci) we solve the equation

L(F1(t,Ci))=H(t,Ci)N(F0(t)),B(F1(t,Ci),dF1(t,Ci)dt)=0,i=1,s¯. (17)

by taking into consideration that the nonlinear operator N presents the general form:

NF0(t)=i=1mhi(t)gi(t), (18)

where m is a positive integer and hi(η) and gi(η) are known functions depending both on F0(η) and 𝓝.

Substituting Eqs. (16) into Eqs. (8), we obtain

Nx10(t)=b3x20(t)b2x30(t)+x20(t)p30(t)x30(t)p20(t),Nx20(t)=b1x30(t)b3x10(t)+x30(t)p10(t)x10(t)p30(t),Nx30(t)=b2x10(t)b1x20(t)+x10(t)p20(t)x20(t)p10(t),Np10(t)=0,Np20(t)=0,Np30(t)=0. (19)

Now, we observe that the nonlinear operators 𝓝[xi0(t)] and 𝓝[pi0(t)], i = 1, 3 respectively, are linear combinations of the functions

cos(ω0t),sin(ω0t),cos2(ω0t),sin2(ω0t),cos(ω0t)sin(ω0t),cos(2ω0t),sin(2ω0t),cos2(2ω0t),sin2(2ω0t),cos(2ω0t)sin(2ω0t),cos(ω0t)cos(2ω0t),sin(ω0t)sin(2ω0t),sin(ω0t)cos(2ω0t),sin(2ω0t)cos(ω0t).

Although the equation (17) is a nonhomogeneous linear one, in most cases its solution cannot be found. In order to compute the function F1(t, Ci) we will use the third modified version of OHAM (see [9] for details), consisting of the following steps:

  1. We choose the auxiliary convergence-control functions Hi such that Hi ⋅ 𝓝[F0(t)] and 𝓝[F0(t)] have the same form. So, the first approximation of xi1 or pi1, i = 1, 3, denoted F1, becomes:

    F1(t)=B1cos(ω1t)+B2cos(3ω1t)+B3cos(ω2t)+B4cos(3ω2t)+B5cos(ω3t)+B6cos(3ω3t)++B7cos(ω4t)+B8cos(3ω4t)+B9cos(ω5t)+B10cos(3ω5t)+B11cos(ω6t)+B12cos(3ω6t)++C1sin(ω1t)+C2sin(3ω1t)+C3sin(ω2t)+C4sin(3ω2t)+C5sin(ω3t)+C6sin(3ω3t)+C7sin(ω4t)++C8sin(3ω4t)+C9sin(ω5t)+C10sin(3ω5t)+C11sin(ω6t)+C12sin(3ω6t), (20)

    where B12=i=111Bi ;

  2. Next, by taking into account the equation (12), the first-order analytical approximate solution of the equations (6) - (5) is:

    F¯(t,Ci)=F(t,1)=F0(t)+F1(t,Ci), (21)

    where can be i or i, i = 1, 3, F0 can be xi0 or pi0, i = 1, 3, and F1 can be xi1 or pi1, i = 1, 3, respectively;

  3. Finally, the convergence-control parameters ω0, ω1 - ω6, B1-B12, C1-C12, which determine the first-order approximate solution (21), can be optimally computed by means of various methods, such as: the least square method, the Galerkin method, the collocation method, the Kantorowich method or the weighted residual method.

6 Numerical Examples and Discussions

In this section, the accuracy and validity of the MOHAM technique is proved using a comparison of our approximate solutions with numerical results obtained via the fourth-order Runge-Kutta method in the following case: we consider the initial value problem given by (3) with initial conditions Ai = 1, i = 1, 6, a1 = 10, a2 = 2 and a3 = 3.

The convergence-control parameters b1, b2, b3, ω0, ω1 - ω6, Bi|i=1,11¯,Ci|i=1,12¯ are optimally determined by means of the least-square method.

  1. For 1 : the convergence-control parameters on the interval [0, 2] are:

    b1=0.2283569027,b2=0.0989000587,b3=2.5941842774,B1=0.6188189674,B2=2.1325097805,B3=0.3758362313,B4=8471.7677686468,B5=1.5400120621,B6=1.0021438297,B7=2.1916593205,B8=0.0000325467,B9=0.1819796718,B10=28.1134709577,B11=0.7724268910,C1=1.1221754588,C2=0.2752866428,C3=1.2174215282,C4=1.8784047879,C5=2.2915639543,C6=2.1942748182,C7=0.0795117420,C8=0.0002229350,C9=0.6031276078,C10=6.2856803724,C11=0.8698723067,C12=2.2168099281,ω0=2.7171764693,ω1=5.2066860242,ω2=5.2822750608,ω3=5.2456387071,ω4=8.0830652375,ω5=5.2711242920,ω6=5.2822418786. (22)

    and the convergence-control parameters on the interval [2, 5] are given by:

    b1=1.4571967311,b2=0.5249006763,b3=0.0347559443,B1=0.1680588883,B2=0.4911503480,B3=0.2633005330,B4=0.0267241176,B5=0.5389446585,B6=0.0608389537,B7=0.0690728145,B8=0.0512340615,B9=0.7510395754,B10=0.0009876254,B11=0.0967713677,C1=0.9792979157,C2=0.0262186055,C3=15.1392159943,C4=0.0147959078,C5=29.0450320529,C6=0.0407981678,C7=37.3422492635,C8=0.0693807591,C9=0.3185006323,C10=0.0074308664,C11=6.8194469552,C12=0.0013704626,ω0=0.1419552102,ω1=5.5187682954,ω2=3.8017451606,ω3=3.9733238823,ω4=3.8809286209,ω5=5.6385913917,ω6=4.1185336351. (23)
  2. for 2 : the convergence-control parameters on the interval [0, 2] are:

    b1=6.4561011,b2=0.7633375264,b3=1.0398880285,B1=0.5392336063,B2=0.1298294288,B3=1.5659562337,B4=0.0011808860,B5=0.2090800434,B6=0.0372954632,B7=2.1157347686,B8=0.0074351146,B9=0.6138533982,B10=0.0114690595,B11=0.5302233690,C1=0.0351118148,C2=1.3059452150,C3=1.8749417378,C4=0.0010852753,C5=0.0615141661,C6=0.1651855910,C7=0.0687100638,C8=0.0088237373,C9=1.5611890958,C10=0.0143718926,C11=0.7124448084,C12=0.1610568447,ω0=2.6307796567,ω1=6.2033327841,ω2=7.2015801370,ω3=6.3707515131,ω4=5.6559017346,ω5=4.6657471128,ω6=6.3944311111. (24)

    and the convergence-control parameters on the interval [2, 5] are given by:

    b1=1.4173488936,b2=0.4882085120,b3=0.3915263714,B1=0.2345297398,B2=0.1971742651,B3=1.0786285111,B4=0.0486671777,B5=0.0131930466,B6=0.0133772489,B7=2.0340028797,B8=0.0016684368,B9=0.9450842076,B10=0.0116617605,B11=0.0690318479,C1=0.0289673387,C2=0.8064636535,C3=0.5582977833,C4=0.0567720911,C5=29.4749483082,C6=0.0162850975,C7=1.1060197207,C8=0.0016094866,C9=18.5848145096,C10=0.0057518090,C11=13.1084491075,C12=0.0078586499,ω0=2.0952483159,ω1=5.6375412723,ω2=3.7903624005,ω3=5.7047027326,ω4=4.4756746978,ω5=5.8040132816,ω6=5.5129048262. (25)
  3. for 3 : the convergence-control parameters on the interval [0, 2] are:

    b1=0.2283569027,b2=0.0989000587,b3=2.5941842774,B1=0.6188189674,B2=2.1325097805,B3=0.3758362313,B4=8471.7677686468,B5=1.5400120621,B6=1.0021438297,B7=2.1916593205,B8=0.0000325467,B9=0.1819796718,B10=28.1134709577,B11=0.7724268910,C1=1.1221754588,C2=0.2752866428,C3=1.2174215282,C4=1.8784047879,C5=2.2915639543,C6=2.1942748182,C7=0.0795117420,C8=0.0002229350,C9=0.6031276078,C10=6.2856803724,C11=0.8698723067,C12=2.2168099281,ω0=2.7171764693,ω1=5.2066860242,ω2=5.2822750608,ω3=5.2456387071,ω4=8.0830652375,ω5=5.2711242920,ω6=5.2822418786. (26)

    and the convergence-control parameters on interval [2, 5] are:

    b1=1.4571967311,b2=0.5249006763,b3=0.0347559443,B1=0.1680588883,B2=0.4911503480,B3=0.2633005330,B4=0.0267241176,B5=0.5389446585,B6=0.0608389537,B7=0.0690728145,B8=0.0512340615,B9=0.7510395754,B10=0.0009876254,B11=0.0967713677,C1=0.9792979157,C2=0.0262186055,C3=15.1392159943,C4=0.0147959078,C5=29.0450320529,C6=0.0407981678,C7=37.3422492635,C8=0.0693807591,C9=0.3185006323,C10=0.0074308664,C11=6.8194469552,C12=0.0013704626,ω0=0.1419552102,ω1=5.5187682954,ω2=3.8017451606,ω3=3.9733238823,ω4=3.8809286209,ω5=5.6385913917,ω6=4.1185336351. (27)
  4. for 1 : the convergence-control parameters on the interval [0, 2] are:

    b1=0.1036485246,b2=0.0838988657,b3=0.4403110806,B1=0.0376788635,B2=0.0248941204,B3=0.0844332782,B4=0.0310777423,B5=0.0452108999,B6=0.0282176461,B7=0.0511653654,B8=0.0940858033,B9=0.0682239918,B10=0.0969008853,B11=0.0250573399,C1=0.0667039160,C2=0.3022819435,C3=0.2669398708,C4=0.0548663952,C5=0.1717403645,C6=0.2707589998,C7=0.2306352376,C8=0.2284873607,C9=0.1108807314,C10=0.1313264955,C11=0.2092043761,C12=0.2694354262,ω0=5.0760814351,ω1=2.8222787903,ω2=4.9149721267,ω3=2.8974142315,ω4=5.0572416865,ω5=5.0454188859,ω6=2.9258916892. (28)

    and the convergence-control parameters on the interval [2, 5] are:

    b1=1.5724586627,b2=0.4707847419,b3=0.2544395948,B1=0.0712733791,B2=0.0207851682,B3=0.2205623769,B4=0.0033128577,B5=0.1849911903,B6=0.0413121206,B7=0.1464344089,B8=0.0057048496,B9=0.4026916710,B10=0.0422517376,B11=0.3367134667,C1=0.0419985180,C2=0.0892298271,C3=0.1005288960,C4=0.0013255000,C5=2.7869531888,C6=1.0428982525,C7=1.4509805903,C8=0.0067469563,C9=2.6907110004,C10=1.0427232874,C11=1.4538893065,C12=0.0197688218,ω0=1.9158018360,ω1=5.7473826070,ω2=3.0355210214,ω3=5.1915773192,ω4=4.1288373559,ω5=5.1917135926,ω6=3.9528743913. (29)
  5. for 2 : the convergence-control parameters on the interval [0, 2] are:

    b1=0.0001683611,b2=2.0016481420,b3=0.0001675070,B1=2.0392289521,B2=0.7006696104,B3=0.7040465119,B4=0.0569489536,B5=0.6718048017,B6=0.3983543667,B7=0.6738145503,B8=0.6345532338,B9=0.1136578383,B10=0.1778469563,B11=0.6978480581,C1=1.7187369022,C2=0.2003619518,C3=0.3990006850,C4=0.5538259239,C5=0.0404543278,C6=0.6223400206,C7=0.0674780726,C8=0.5312964055,C9=0.6211580141,C10=0.6394029170,C11=1.0642886252,C12=0.0755732216,ω0=2.1419552102,ω1=5.3953610209,ω2=5.5180829133,ω3=4.7506598358,ω4=4.8477963380,ω5=5.4670333603,ω6=3.5311907764. (30)

    and the convergence-control parameters on the interval [2, 5] are:

    b1=1.5140732386,b2=0.6178462055,b3=0.0867140300,B1=0.2786291081,B2=0.4786720197,B3=0.5292322445,B4=0.4322397555,B5=0.7165692078,B6=0.0812481438,B7=0.3403175271,B8=0.1173750787,B9=0.2683988617,B10=1.1274223663,B11=0.0493435362,C1=3.6814134305,C2=3.8467270553,C3=0.8484998229,C4=4.9123469312,C5=8.7928157171,C6=1.2560165019,C7=6.9962684630,C8=1.0188150435,C9=5.0605350584,C10=0.6868788798,C11=0.1766079390,C12=0.0029503559,ω0=3.1361476367,ω1=6.4656953483,ω2=3.1838334017,ω3=3.8578923929,ω4=3.8982724447,ω5=3.3948338453,ω6=5.5582071846. (31)
  6. for 3 : the convergence-control parameters on the interval [0, 2] are:

    b1=0,b2=0.0355751014,b3=0.4758762645,B1=3.0671655307,B2=1.2783637062,B3=0.1220942110,B4=0.9894151494,B5=1.6067226786,B6=0.3094379114,B7=0.4821540115,B8=0.3708570097,B9=1.6591913793,B10=0.0107568076,B11=1.7584367052,C1=4.2347221138,C2=1.5534081190,C3=1.3745219366,C4=0.2337265539,C5=1.0301856996,C6=0.2062301374,C7=0.9954330338,C8=0.8268518077,C9=1.3017488786,C10=0.0901576224,C11=1.3131066060,C12=0.0035743896,ω0=0.4284845434,ω1=4.6137446439,ω2=2.8735244185,ω3=3.8183642486,ω4=3.3447626333,ω5=4.5270915130,ω6=6.2424590206. (32)

    and the convergence-control parameters on the interval [2, 5] are:

    b1=1.1539383919,b2=0.0378132194,b3=0.0764893091,B1=3.6683385539,B2=3.7078901504,B3=0.1769224627,B4=0.8704700821,B5=1.8228794015,B6=0.0174711644,B7=3.1339499445,B8=0.5873136873,B9=1.5165399988,B10=2439.7242372375,B11=1.3526927320,C1=0.6348315021,C2=2.8138881766,C3=54.5190807947,C4=1.7557827711,C5=7.7092155624,C6=0.0035474772,C7=50.6503693246,C8=1.7755694908,C9=42.7395871073,C10=13.2505164509,C11=43.3928223377,C12=13.2111837376,ω0=1.9658055572,ω1=5.7390876257,ω2=3.0355210214,ω3=5.5992543568,ω4=3.0644519992,ω5=4.4482240954,ω6=4.4482272978. (33)

Finally, Tables 1 - 4 emphasizes the accuracy of the MOHAM technique by comparing the approximate analytic solutions 1 and 1 respectively presented above with the corresponding numerical integration values (via the 4th-order Runge-Kutta method), and the Lie-Trotter integrator. Finally, the results obtained using MOHAM are much closer to the original solution in comparison to the results obtained using Lie-Trotter integrator. These comparisons show the effectiveness, reliability, applicability, efficiency and accuracy of the MOHAM against to the Lie-Trotter integrator.

Table 1

The comparison between the approximate solutions 1 given by Eq. (22) and the corresponding numerical solutions for a1 = 10, a2 = 2 and a3 = 3 (relative errors: ϵx1 = |x1numerical1MOHAM|)

t x1numerical x1 1MOHAM ϵx1
Lie-Trotter (5 iterations) given by Eq. (22) on [0, 2] MOHAM
0 1 1 1 0
1/5 0.7337023135 0.3397255522 0.7337010385 1.27 ⋅ 10−6
2/5 0.1051371952 -0.1175841263 0.1051376412 4.46 ⋅ 10−7
3/5 -0.5390294341 0.4802310232 -0.5390162606 1.31 ⋅ 10−5
4/5 -0.7408940837 1.0112524913 -0.7408685929 2.54 ⋅ 10−5
1 -0.1865095491 0.6934561430 -0.1864820575 2.74 ⋅ 10−5
6/5 0.6179798375 -0.0704392741 0.6180122798 3.24 ⋅ 10−5
7/5 0.7542356906 -0.7051643433 0.7542576320 2.19 ⋅ 10−5
8/5 0.1623850803 -1.0253085094 0.1623984362 1.33 ⋅ 10−5
9/5 -0.5946553094 -0.9561760501 -0.5946418649 1.34 ⋅ 10−5
2 -0.7270211941 -0.3650442893 -0.7269848249 3.63 ⋅ 10−5

Table 2

The comparison between the approximate solutions 1 given by Eq. (23) and the corresponding numerical solutions for a1 = 10, a2 = 2 and a3 = 3 (relative errors: ϵx1 = |x1numerical1MOHAM|)

t x1numerical x1 1MOHAM ϵx1
Lie-Trotter (5 iterations) given by Eq. (23) on [2, 5] MOHAM
2 -0.7270211941 -0.3650442893 -0.7269848249 3.63 ⋅ 10−5
23/10 0.4372022188 0.9364250346 0.4372037377 1.51 ⋅ 10−6
13/5 0.6086980787 0.3097132458 0.6088280862 1.30 ⋅ 10−4
29/10 -0.5357138405 -0.8052294850 -0.5357087054 5.13 ⋅ 10−6
16/5 -0.5145382567 1.5523267940 -0.5143525655 1.85 ⋅ 10−4
7/2 0.6856064084 1.4821107514 0.6858827501 2.76 ⋅ 10−4
19/5 0.3181857442 -1.2076590809 0.3183075232 1.21 ⋅ 10−4
41/10 -0.7368863901 -0.3502332442 -0.7367419022 1.44 ⋅ 10−4
22/5 -0.1421700459 0.5798310108 -0.1420135462 1.56 ⋅ 10−4
47/10 0.7752628531 0.9869474224 0.7751771539 8.5 ⋅ 10−5
5 -0.0560490264 0.7281825005 -0.0561680013 1.18 ⋅ 10−4

Table 3

The comparison between the approximate solutions 1 given by Eq. (28) and the corresponding numerical solutions for a1 = 10, a2 = 2 and a3 = 3 (relative errors: ϵp1 = |p1numerical1MOHAM|)

t p1numerical p1 1MOHAM ϵp1
Lie-Trotter (5 iterations) given by Eq. (28) on [0, 2] MOHAM
0 1 1 1 0
1/5 1.1988857916 -5.69570694281 1.1989144264 2.86 ⋅ 10−5
2/5 1.3795883412 -12.2537269802 1.3795018229 8.65 ⋅ 10−5
3/5 1.5324439810 -15.7770580704 1.5324405923 3.38 ⋅ 10−6
4/5 1.6664441641 -18.0829524967 1.6665733306 1.29 ⋅ 10−4
1 1.7403013358 -20.7507227878 1.7401964409 1.04 ⋅ 10−4
6/5 1.7799452607 -23.4286883110 1.7798486906 9.65 ⋅ 10−5
7/5 1.8498771709 -25.3934489405 1.8500266661 1.49 ⋅ 10−4
8/5 1.8827210686 -25.5740167497 1.8827099340 1.11 ⋅ 10−5
9/5 1.8942673776 -22.8936868313 1.8941392230 1.28 ⋅ 10−4
2 1.9333046846 -16.3172763616 1.9332334105 7.12 ⋅ 10−5

Table 4

The comparison between the approximate solutions 1 given by Eq. (29) and the corresponding numerical solutions for a1 = 10, a2 = 2 and a3 = 3 (relative errors: ϵp1 = |p1numerical1MOHAM|)

t p1numerical p1 1MOHAM ϵp1
Lie-Trotter (5 iterations) given by Eq. (29) on [2, 5] MOHAM
2 1.9333046846 -16.3172763616 1.9332334105 7.12 ⋅ 10−5
23/10 1.9216518990 -2.1569524154 1.9217457034 9.38 ⋅ 10−5
13/5 1.9566676109 -12.0492776630 1.9566449348 2.26 ⋅ 10−5
29/10 1.9371859786 -54.9580130501 1.9370816701 1.04 ⋅ 10−4
16/5 1.9648174687 -77.7932051440 1.9646341611 1.83 ⋅ 10−4
7/2 1.9425320654 -46.9039743670 1.9423610516 1.71 ⋅ 10−4
19/5 1.9628519104 -28.5641249959 1.9627279020 1.24 ⋅ 10−4
41/10 1.9501703138 -54.0054145407 1.9501176267 5.26 ⋅ 10−5
22/5 1.9576681782 -65.1112304012 1.9576082788 5.98 ⋅ 10−5
47/10 1.9560784138 -33.8220308602 1.9560788273 4.13 ⋅ 10−7
5 1.9519551708 7.6427858981 1.9521276801 1.72 ⋅ 10−4

Remark 2

Figures 3 and 4 present the comparisons between the analytical approximate solutions given by MOHAM and numerical results provided by Runge-Kutta 4th steps integrator. We can see that the analytical approximate solutions and Runge-Kutta 4th steps integrator’s results are quite the same.

Figure 3 
Profiles of the functions x̄1, x̄2, and x̄3 respectively, given by Eqs. (22), (24), (26) on [0, 2] and Eqs. (23), (25), (27) on [2, 5] respectively: - - - - - numerical solution, ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ MOHAM solution.
Figure 3

Profiles of the functions 1, 2, and 3 respectively, given by Eqs. (22), (24), (26) on [0, 2] and Eqs. (23), (25), (27) on [2, 5] respectively: - - - - - numerical solution, ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ MOHAM solution.

Figure 4 
Profiles of the functions p̄1, p̄2, and p̄3 respectively, given by Eq. (28), (30), (32) on [0, 2] and Eqs. (29), (31), (33) on on [2, 5] respectively: - - - - - numerical solution, ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ MOHAM solution.
Figure 4

Profiles of the functions 1, 2, and 3 respectively, given by Eq. (28), (30), (32) on [0, 2] and Eqs. (29), (31), (33) on on [2, 5] respectively: - - - - - numerical solution, ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ MOHAM solution.

7 Conclusion

The stability problem and the existence of the periodic orbits represent important issues for any differential equations system, so a lot of methods were developed ([11]) in order to obtain better results.

The Clebsch’s system arises from physics like a lot of other systems: the rigid body ([12]), the Maxwell-Bloch equations ([13]), the heavy top dynamics ([14]), the spacecraft dynamics ([15]), the Ishii’s equations ([16]), and the list could continue. For all these examples, the energy-methods provided us conclusive results, being a good reason to use it again.

In this paper we analyze the nonlinear stability of the equilibrium states of Clebsch’s system. Some results obtained in [2] -like the stability of the equilibrium states e1M,N,e2M,N,e3M,N - are improved and some other new, like the stability of the equilibrium states e4M,N,P which are developed. Then, using Moser-Weinstein theorem with zero eigenvalue, we were able to prove the existence of the periodic orbits around the nonlinear stable equilibria.

In the last part, a comparison of the results obtained using numerical integrator, Lie-Trotter and Multistage Optimal Homotopy Asymptotic Method are analyzed. We summarize that the MOHAM’s analytic solutions are proved to be the best.

  1. Conflict of Interest

    Conflict of Interests: The authors declare that there is no conflict of interests regarding the publication of this paper.

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Received: 2018-01-31
Accepted: 2019-01-18
Published Online: 2019-04-09

© 2019 Pop and Ene, published by De Gruyter

This work is licensed under the Creative Commons Attribution 4.0 Public License.

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  35. Soft covering based rough graphs and corresponding decision making
  36. Complete convergence for arrays of ratios of order statistics
  37. Sufficient and necessary conditions of convergence for ρ͠ mixing random variables
  38. Attractors of dynamical systems in locally compact spaces
  39. Random attractors for stochastic retarded strongly damped wave equations with additive noise on bounded domains
  40. Statistical approximation properties of λ-Bernstein operators based on q-integers
  41. An investigation of fractional Bagley-Torvik equation
  42. Pentavalent arc-transitive Cayley graphs on Frobenius groups with soluble vertex stabilizer
  43. On the hybrid power mean of two kind different trigonometric sums
  44. Embedding of Supplementary Results in Strong EMT Valuations and Strength
  45. On Diophantine approximation by unlike powers of primes
  46. A General Version of the Nullstellensatz for Arbitrary Fields
  47. A new representation of α-openness, α-continuity, α-irresoluteness, and α-compactness in L-fuzzy pretopological spaces
  48. Random Polygons and Estimations of π
  49. The optimal pebbling of spindle graphs
  50. MBJ-neutrosophic ideals of BCK/BCI-algebras
  51. A note on the structure of a finite group G having a subgroup H maximal in 〈H, Hg
  52. A fuzzy multi-objective linear programming with interval-typed triangular fuzzy numbers
  53. Variational-like inequalities for n-dimensional fuzzy-vector-valued functions and fuzzy optimization
  54. Stability property of the prey free equilibrium point
  55. Rayleigh-Ritz Majorization Error Bounds for the Linear Response Eigenvalue Problem
  56. Hyper-Wiener indices of polyphenyl chains and polyphenyl spiders
  57. Razumikhin-type theorem on time-changed stochastic functional differential equations with Markovian switching
  58. Fixed Points of Meromorphic Functions and Their Higher Order Differences and Shifts
  59. Properties and Inference for a New Class of Generalized Rayleigh Distributions with an Application
  60. Nonfragile observer-based guaranteed cost finite-time control of discrete-time positive impulsive switched systems
  61. Empirical likelihood confidence regions of the parameters in a partially single-index varying-coefficient model
  62. Algebraic loop structures on algebra comultiplications
  63. Two weight estimates for a class of (p, q) type sublinear operators and their commutators
  64. Dynamic of a nonautonomous two-species impulsive competitive system with infinite delays
  65. 2-closures of primitive permutation groups of holomorph type
  66. Monotonicity properties and inequalities related to generalized Grötzsch ring functions
  67. Variation inequalities related to Schrödinger operators on weighted Morrey spaces
  68. Research on cooperation strategy between government and green supply chain based on differential game
  69. Extinction of a two species competitive stage-structured system with the effect of toxic substance and harvesting
  70. *-Ricci soliton on (κ, μ)′-almost Kenmotsu manifolds
  71. Some improved bounds on two energy-like invariants of some derived graphs
  72. Pricing under dynamic risk measures
  73. Finite groups with star-free noncyclic graphs
  74. A degree approach to relationship among fuzzy convex structures, fuzzy closure systems and fuzzy Alexandrov topologies
  75. S-shaped connected component of radial positive solutions for a prescribed mean curvature problem in an annular domain
  76. On Diophantine equations involving Lucas sequences
  77. A new way to represent functions as series
  78. Stability and Hopf bifurcation periodic orbits in delay coupled Lotka-Volterra ring system
  79. Some remarks on a pair of seemingly unrelated regression models
  80. Lyapunov stable homoclinic classes for smooth vector fields
  81. Stabilizers in EQ-algebras
  82. The properties of solutions for several types of Painlevé equations concerning fixed-points, zeros and poles
  83. Spectrum perturbations of compact operators in a Banach space
  84. The non-commuting graph of a non-central hypergroup
  85. Lie symmetry analysis and conservation law for the equation arising from higher order Broer-Kaup equation
  86. Positive solutions of the discrete Dirichlet problem involving the mean curvature operator
  87. Dislocated quasi cone b-metric space over Banach algebra and contraction principles with application to functional equations
  88. On the Gevrey ultradifferentiability of weak solutions of an abstract evolution equation with a scalar type spectral operator on the open semi-axis
  89. Differential polynomials of L-functions with truncated shared values
  90. Exclusion sets in the S-type eigenvalue localization sets for tensors
  91. Continuous linear operators on Orlicz-Bochner spaces
  92. Non-trivial solutions for Schrödinger-Poisson systems involving critical nonlocal term and potential vanishing at infinity
  93. Characterizations of Benson proper efficiency of set-valued optimization in real linear spaces
  94. A quantitative obstruction to collapsing surfaces
  95. Dynamic behaviors of a Lotka-Volterra type predator-prey system with Allee effect on the predator species and density dependent birth rate on the prey species
  96. Coexistence for a kind of stochastic three-species competitive models
  97. Algebraic and qualitative remarks about the family yy′ = (αxm+k–1 + βxmk–1)y + γx2m–2k–1
  98. On the two-term exponential sums and character sums of polynomials
  99. F-biharmonic maps into general Riemannian manifolds
  100. Embeddings of harmonic mixed norm spaces on smoothly bounded domains in ℝn
  101. Asymptotic behavior for non-autonomous stochastic plate equation on unbounded domains
  102. Power graphs and exchange property for resolving sets
  103. On nearly Hurewicz spaces
  104. Least eigenvalue of the connected graphs whose complements are cacti
  105. Determinants of two kinds of matrices whose elements involve sine functions
  106. A characterization of translational hulls of a strongly right type B semigroup
  107. Common fixed point results for two families of multivalued A–dominated contractive mappings on closed ball with applications
  108. Lp estimates for maximal functions along surfaces of revolution on product spaces
  109. Path-induced closure operators on graphs for defining digital Jordan surfaces
  110. Irreducible modules with highest weight vectors over modular Witt and special Lie superalgebras
  111. Existence of periodic solutions with prescribed minimal period of a 2nth-order discrete system
  112. Injective hulls of many-sorted ordered algebras
  113. Random uniform exponential attractor for stochastic non-autonomous reaction-diffusion equation with multiplicative noise in ℝ3
  114. Global properties of virus dynamics with B-cell impairment
  115. The monotonicity of ratios involving arc tangent function with applications
  116. A family of Cantorvals
  117. An asymptotic property of branching-type overloaded polling networks
  118. Almost periodic solutions of a commensalism system with Michaelis-Menten type harvesting on time scales
  119. Explicit order 3/2 Runge-Kutta method for numerical solutions of stochastic differential equations by using Itô-Taylor expansion
  120. L-fuzzy ideals and L-fuzzy subalgebras of Novikov algebras
  121. L-topological-convex spaces generated by L-convex bases
  122. An optimal fourth-order family of modified Cauchy methods for finding solutions of nonlinear equations and their dynamical behavior
  123. New error bounds for linear complementarity problems of Σ-SDD matrices and SB-matrices
  124. Hankel determinant of order three for familiar subsets of analytic functions related with sine function
  125. On some automorphic properties of Galois traces of class invariants from generalized Weber functions of level 5
  126. Results on existence for generalized nD Navier-Stokes equations
  127. Regular Banach space net and abstract-valued Orlicz space of range-varying type
  128. Some properties of pre-quasi operator ideal of type generalized Cesáro sequence space defined by weighted means
  129. On a new convergence in topological spaces
  130. On a fixed point theorem with application to functional equations
  131. Coupled system of a fractional order differential equations with weighted initial conditions
  132. Rough quotient in topological rough sets
  133. Split Hausdorff internal topologies on posets
  134. A preconditioned AOR iterative scheme for systems of linear equations with L-matrics
  135. New handy and accurate approximation for the Gaussian integrals with applications to science and engineering
  136. Special Issue on Graph Theory (GWGT 2019)
  137. The general position problem and strong resolving graphs
  138. Connected domination game played on Cartesian products
  139. On minimum algebraic connectivity of graphs whose complements are bicyclic
  140. A novel method to construct NSSD molecular graphs
Heruntergeladen am 24.12.2025 von https://www.degruyterbrill.com/document/doi/10.1515/math-2019-0018/html
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