Smooth and Non-Smooth Dependence of Lyapunov Vectors upon the Angle Variable on a Torus in the Context of Torus-Doubling Transitions in the Quasiperiodically Forced Henon Map

A transition from a smooth torus to a chaotic attractor in quasiperiodically forced dissipative systems may occur after a finite number of torus-doubling bifurcations. In this paper we investigate the underlying bifurcational mechanism which seems to be responsible for the termination of the torus-doubling cascades on the routes to chaos in invertible maps under external quasiperiodic forcing. We consider the structure of a vicinity of a smooth attracting invariant curve (torus) in the quasiperiodically forced Henon map and characterize it in terms of Lyapunov vectors, which determine directions of contraction for an element of phase space in a vicinity of the torus. When the dependence of the Lyapunov vectors upon the angle variable on the torus is smooth, regular torus-doubling bifurcation takes place. On the other hand, the onset of non-smooth dependence leads to a new phenomenon terminating the torus-doubling bifurcation line in the parameter space with the torus transforming directly into a strange nonchaotic attractor. We argue that the new phenomenon plays a key role in mechanisms of transition to chaos in quasiperiodically forced invertible dynamical systems.