We demonstrate that a time-varying delay in nonlinear systems leads to a rich variety of dynamical behaviour, which cannot be observed in systems with constant delay. We show that the effect of the delay variation is similar to the Doppler effect with self-feedback. We distinguish between the non-resonant and the resonant Doppler effect corresponding to the dichotomy between conservative delays and dissipative delays. The non-resonant Doppler effect leads to a quasi-periodic frequency modulation of the signal, but the qualitative properties of the solution are the same as for constant delays. By contrast, the resonant Doppler effect leads to fundamentally different solutions characterized by low- and high-frequency phases with a clear separation between them. This is equivalent to time-multiplexed dynamics and can be used to design systems with well-defined multistable solutions or temporal switching between different chaotic and periodic dynamics. We systematically study chaotic dynamics in systems with large dissipative delay, which we call generalized laminar chaos. We derive a criterion for the occurrence of different orders of generalized laminar chaos, where the order is related to the dimension of the chaotic attractor. The recently found laminar chaos with constant plateaus in the low-frequency phases is the zeroth-order case with a very low dimension compared to the known high dimension of turbulent chaos in systems with conservative delay. This article is part of the theme issue ‘Nonlinear dynamics of delay systems’.

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Recently, it was shown that certain systems with large time-varying delay exhibit different types of chaos, which are related to two types of time-varying delay: conservative and dissipative delays. The known high-dimensional Turbulent Chaos is characterized by strong fluctuations. In contrast, the recently discovered low-dimensional Laminar Chaos is characterized by nearly constant laminar phases with periodic durations and a chaotic variation of the intensity from phase to phase. In this paper we extend our results from our preceding publication [J. D. Hart, R. Roy, D. Müller-Bender, A. Otto, and G. Radons, PRL 123 154101 (2019)], where it is demonstrated that Laminar Chaos is a robust phenomenon, which can be observed in experimental systems. We provide a time series analysis toolbox for the detection of robust features of Laminar Chaos. We benchmark our toolbox by experimental time series and time series of a model system which is described by a nonlinear Langevin equation with time-varying delay. The benchmark is done for different noise strengths for both the experimental system and the model system, where Laminar Chaos can be detected, even if it is hard to distinguish from Turbulent Chaos by a visual analysis of the trajectory.

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