Hyperbolic Geometry of Kuramoto Oscillator Networks

Abstract

Kuramoto oscillator networks have the special property that their trajectories are constrained to lie on the (at most) 3D orbits of the Möbius group acting on the state space $T^N$ (the $N$-fold torus). This result has been used to explain the existence of the $N-3$ constants of motion discovered by Watanabe and Strogatz for Kuramoto oscillator networks. In this work we investigate geometric consequences of this Möbius group action. The dynamics of Kuramoto phase models can be further reduced to 2D reduced group orbits, which have a natural geometry equivalent to the unit disk $Δ$ with the hyperbolic metric. We show that in this metric the original Kuramoto phase model (with order parameter $Z_1$ equal to the centroid of the oscillator configuration of points on the unit circle) is a gradient flow and the model with order parameter $iZ_1$ (corresponding to cosine phase coupling) is a completely integrable Hamiltonian flow. We give necessary and sufficient conditions for general Kuramoto phase models to be gradient or Hamiltonian flows in this metric. This allows us to identify several new infinite families of hyperbolic gradient or Hamiltonian Kuramoto oscillator networks which therefore have simple dynamics with respect to this geometry. We prove that for the $Z_1$ model, a generic 2D reduced group orbit has a unique fixed point corresponding to the hyperbolic barycenter of the oscillator configuration, and therefore the dynamics are equivalent on different generic reduced group orbits. This is not always the case for more general hyperbolic gradient or Hamiltonian flows; the reduced group orbits may have multiple fixed points, which also may bifurcate as the reduced group orbits vary.