Periodic edge localized modes (ELMs) are the non-linear consequences of pressure-gradient-driven ballooning modes and current-driven peeling modes becoming unstable in the pedestal region of high confinement fusion plasmas. In future tokamaks like ITER, large ELMs are foreseen to severely affect the lifetime of wall components as they transiently deposit large amounts of heat onto a narrow region at the divertor targets. Several strategies exist for avoidance, suppression, or mitigation of these instabilities, such as the naturally ELM-free quiescent H-mode (QH-mode). In the present article, an ASDEX Upgrade equilibrium that features a QH-mode is investigated through non-linear extended MHD simulations covering the dynamics over tens of milliseconds. The equilibrium is close to the ideal peeling limit and non-linearly develops saturated modes at the edge of the plasma. A dominant toroidal mode number of $n=1$ is found, for which the characteristic features of the edge harmonic oscillation are recovered.
The saturated modes contribute to heat and particle transport preventing pedestal build-up to the ELM triggering threshold. 
The non-linear dynamics of the mode, in particular its interaction with the evolution of the edge safety factor is studied, which suggest a possible new saturation mechanism for the QH-mode.
The simulations show good qualitative and quantitative agreement to experiments in AUG. In particular, the processes leading to the termination of QH-mode above a density threshold is studied, which results in the transition into an ELM regime. In the vicinity of this threshold, limit cycle oscillations are observed.