Asymptotic formation and orbital stability of phase-locked states for the Kuramoto model

We discuss the asymptotic formation and nonlinear orbital stability of phase-locked states arising from the ensemble of non-identical Kuramoto oscillators. We provide an explicit lower bound for a coupling strength on the formation of phase-locked states, which only depends on the diameters of natural frequencies and initial phase configurations. We show that, when the phases of non-identical oscillators are distributed over the half circle and the coupling strength is sufficiently large, the dynamics of Kuramoto oscillators exhibits two stages (transition and relaxation stages). In a transition stage, initial configurations shrink to configurations whose diameters are strictly less than π2 in a finite-time, and then the configurations tend to phase-locked states asymptotically. This improves previous results on the formation of phase-locked states by Chopra–Spong (2009) [26] and Ha–Ha–Kim (2010) [27] where their attention were focused only on the latter relaxation stage. We also show that the Kuramoto model is ℓ1-contractive in the sense that the ℓ1-distance along two smooth Kuramoto flows is less than or equal to that of initial configurations. In particular, when two initial configurations have the same averaged phases, the ℓ1-distance between them decays to zero exponentially fast. For the configurations with different phase averages, we use the method of average adjustment and translation-invariant of the Kuramoto model to show that one solution converges to the translation of the other solution exponentially fast. This establishes the orbital stability of the phase-locked states. Our stability analysis does not employ any standard linearization technique around the given phase-locked states, but instead, we use a robust ℓ1-metric functional as a Lyapunov functional. In the formation process of phase-locked states, we estimate the number of collisions between oscillators, and lower–upper bounds of the transversal phase differences. ► We have the phase-locked states from initial phases distributed over the half circle. ► We show the nonlinear stability of the phase-locked states using l1-metric. ► We calculate the exact number of collisions between oscillators. ► We have the lower–upper bounds of the transversal phase differences.