Normal form maps for grazing bifurcations in n-dimensional piecewise-smooth dynamical systems

This paper presents a unified framework for performing local analysis of grazing bifurcations in n-dimensional piecewise-smooth systems of ODEs. These occur when a periodic orbit has a point of tangency with a smooth (n−1)-dimensional boundary dividing distinct regions in phase space where the vector field is smooth. It is shown under quite general circumstances that this leads to a normal-form map that contains to lowest order either a...