This issue is dedicated to nonsmooth dynamics, particularly the widening applications where dynamics is modelled by nonsmooth differential equations. The modeling of electrical or mechanical switches as nonsmooth can be traced throughout the (at least) 90-year history in which nondifferentiable terms, such as sign or step functions, have been turning up in differential equations. In recent decades, nonsmooth models have found increasing use in areas like contact mechanics, climate modeling, and the life sciences, among others, with a wealth of new theory and novel dynamical phenomena discovered along the way. Our aim here is to give just a partial snapshot of the current landscape of research topics in the field. We open with Paul Glendinning's article extending a classic phenomenon of nonlinear dynamics — a form of chaos introduced by Leonid Pavlovich Shilnikov — to nonsmooth systems. The scenario introduces a fundamental notion of nonsmooth dyamics, that of trajectories (in this case the crucial homoclinic orbit) that can ‘slide’ along a discontinuity. Shilnikov's scenario is moreover shown to occur naturally as an equilibrium hits a discontinuity, helping with a fundamental yet complex problem, namely that of extending the notion of boundary equilibrium bifurcations beyond systems of two variables.

In the 1960s, L.P. Shilnikov showed that certain homoclinic orbits for smooth families of differential equations imply the existence of chaos, and there are complicated sequences of bifurcations near the parameter value at which the homoclinic orbit exists. We describe how this analysis is modified if the differential equations are piecewise smooth and the homoclinic orbit has a sliding segment. Moreover, we show that the Shilnikov mechanism appears naturally in the unfolding of boundary equilibrium bifurcations in $\mathbb{R}^3$.

The dynamics of moving solids with unilateral contacts are often modelled by assuming rigidity, point contacts, and Coulomb friction. The canonical example of a rigid rod with one endpoint slipping in two dimensions along a fixed surface (sometimes referred to as Painlevé rod) has been investigated thoroughly by many authors. The generic transitions of that system include three classical transitions (slip-stick, slip reversal, and liftoff) as well as a singularity called dynamic jamming, i.e., convergence to a codimension 2 manifold in state space, where rigid body theory breaks down. The goal of this paper is to identify similar singularities arising in systems with multiple point contacts, and in a broader setting to make initial steps towards a comprehensive list of generic transitions from slip motion to other types of dynamics. We show that – in addition to the classical transitions – dynamic jamming remains a generic phenomenon. We also find new forms of singularity and solution indeterminacy, as well as generic routes from sliding to self-excited microscopic or macroscopic oscillations.

We investigate experimentally and numerically suppression of drill-string torsional vibration while drilling by using a sliding mode control. The experiments are conducted on the novel experimental drill-string dynamics rig developed at the University of Aberdeen (Wiercigroch, M., 2010, Modelling and Analysis of BHA and Drill-string Vibrations) and using commercial Polycrystalline Diamond Compact (PDC) drill-bits and rock-samples. A mathematical model of the experimental setup, which takes into account the dynamics of the drill-string and the driving motor, is constructed. Physical parameters of the experimental rig are identified in order to calibrate the mathematical model and consequently to ensure robust predictions and a close agreement between experimental and numerical results for stick–slip vibration is shown. Then, a sliding mode control method is employed to suppress stick–slip vibration. A special attention is paid to prove the Lyapunov stability of the controller in presence of model parameter uncertainties by defining a robust Lyapunov function. Again experimental and numerical results for the control cases are in a close agreement. Stick–slip vibration is eliminated and a significant reduction in vibration amplitude has been observed when using the sliding controller.

Non-smooth approximations of steep sigmoidal switching networks, such as those used as qualitative models of gene regulation, lead to analytic and computational challenges that arise as a result of the discontinuities in the vector fields. In order to highlight the need for care in dealing with such systems, several particular phenomena are presented here through illustrative examples, including ‘Zeno breaking’, or computing beyond the finite time convergence of an infinite sequence of threshold transitions; the ‘Contact’ effect, in which in the discontinuous limit, trajectories can pass through a ‘saddle point’ without stopping, though these solutions are not unique and other solutions stop for arbitrary time intervals; and sensitive behaviour that arises from exotic dynamics within switching regions.

For more than 30 years the ‘two-process model’ has played a central role in the understanding of sleep/wake regulation. This ostensibly simple model is an interesting example of a non-smooth dynamical system, whose rich dynamical structure has been relatively unexplored. The two-process model can be framed as a one-dimensional map of the circle, which, for some parameter regimes, has gaps. We show how border collision bifurcations that arise naturally in maps with gaps extend and supplement the Arnold tongue saddle-node bifurcation set that is a feature of continuous circle maps. The novel picture that results shows how the periodic solutions that are created by saddle-node bifurcations in continuous maps transition to periodic solutions created by period-adding bifurcations as seen in maps with gaps.

Neural mass models are ubiquitous in large-scale brain modelling. At the node level, they are written in terms of a set of ordinary differential equations with a non-linearity that is typically a sigmoidal shape. Using structural data from brain atlases, they may be connected into a network to investigate the emergence of functional dynamic states, such as synchrony. With the simple restriction of the classic sigmoidal non-linearity to a piecewise linear caricature, we show that the famous Wilson–Cowan neural mass model can be explicitly analysed at both the node and network level. The construction of periodic orbits at the node level is achieved by patching together matrix exponential solutions, and stability is determined using Floquet theory. For networks with interactions described by circulant matrices, we show that the stability of the synchronous state can be determined in terms of a low-dimensional Floquet problem parameterised by the eigenvalues of the interaction matrix. Moreover, this network Floquet problem is readily solved using linear algebra to predict the onset of spatio-temporal network patterns arising from a synchronous instability. We further consider the case of a discontinuous choice for the node non-linearity, namely the replacement of the sigmoid by a Heaviside non-linearity. This gives rise to a continuous-time switching network. At the node level, this allows for the existence of unstable sliding periodic orbits, which we explicitly construct. The stability of a periodic orbit is now treated with a modification of Floquet theory to treat the evolution of small perturbations through switching manifolds via the use of saltation matrices. At the network level, the stability analysis of the synchronous state is considerably more challenging. Here, we report on the use of ideas originally developed for the study of Glass networks to treat the stability of periodic network states in neural mass models with discontinuous interactions.

Collision of equilibria with a splitting manifold has been locally studied, but might also be a contributing factor to global bifurcations. In particular, a boundary collision can be coincident with collision of a virtual equilibrium with a periodic orbit, giving an analogue to a homoclinic bifurcation. This type of bifurcation is demonstrated in a non-smooth climate application. Here, we describe the non-smooth bifurcation structure, as well as the smooth bifurcation structure for which the non-smooth homoclinic bifurcation is a limiting case.

The asymptotic phase θ of an initial point x in the stable manifold of a limit cycle (LC) identifies the phase of the point on the LC to which the flow φt(x) converges as t → ∞. The infinitesimal phase response curve (iPRC) quantifies the change in timing due to a small perturbation of a LC trajectory. For a stable LC in a smooth dynamical system, the iPRC is the gradient ∇x(θ) of the phase function, which can be obtained via the adjoint of the variational equation. For systems with discontinuous dynamics, the standard approach to obtaining the iPRC fails. We derive a formula for the iPRCs of LCs occurring in piecewise smooth (Filippov) dynamical systems of arbitrary dimension, subject to a transverse flow condition. Discontinuous jumps in the iPRC can occur at the boundaries separating subdomains, and are captured by a linear matching condition. The matching matrix, M, can be derived from the saltation matrix arising in the associated variational problem. For the special case of linear dynamics away from switching boundaries, we obtain an explicit expression for the iPRC. We present examples from cell biology (Glass networks) and neuroscience (central pattern generator models). We apply the iPRCs obtained to study synchronization and phase-locking in piecewise smooth LC systems in which synchronization arises solely due to the crossing of switching manifolds.

In this article, we study the higher-order Moreau's sweeping process introduced in [1], in the case where an exogenous time-varying function u(·) is present in both the linear dynamics and in the unilateral constraints. First, we show that the well-posedness results (existence and uniqueness of solutions) obtained in [1] for the autonomous case, extend to the non-autonomous case when u(·) is smooth and piece-wise analytic, after a suitable state transformation is done. Stability issues are discussed. The complexity of such non-smooth non-autonomous dynamical systems is illustrated in a particular case named the higher-order bouncing ball, where trajectories with accumulations of jumps are exhibited. Examples from mechanics and circuits illustrate some of the results. The link with complementarity dynamical systems and with switching differential-algebraic equations is made.