A Series Journal of the Chinese Physical Society Distributed by IOP Publishing Online: http://iopscience.iop.org/cpl http://cpl.iphy.ac.cn C HINESE P HYSICAL S OCIETY ISSN: 0256 - 307 X 中国物理快报 Chinese Physics Letters Volume 29 Number 12 December 2012
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Anti-Synchronization of Chaotic Systems via Adaptive Sliding Mode Control
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A Series Journal of the Chinese Physical SocietyDistributed by IOP Publishing
ChinesePhysicsLettersVolume 29 Number 12 December 2012
CHIN.PHYS. LETT. Vol. 29, No. 12 (2012) 120505
Anti-Synchronization of Chaotic Systems via Adaptive Sliding Mode Control *
Wafaa Jawaada1, M. S. M. Noorani1, M. Mossa Al-sawalha21School of Mathematical Sciences, Universiti Kebangsaan Malaysia,
43600 UKM Bangi, Selangor, Malaysia2Faculty of Science, Mathematics Department, University of Hail, Kingdom of Saudi Arabia
(Received 18 April 2012)An anti-synchronization scheme is proposed to achieve the anti-synchronization behavior between chaotic systemswith fully unknown parameters. A sliding surface and an adaptive sliding mode controller are designed to gainthe anti-synchronization. The stability of the error dynamics is proven theoretically using the Lyapunov stabilitytheory. Finally numerical results are presented to justify the theoretical analysis.
One of the most important aspects of nonlineardynamical systems is the property of synchronizationor anti-synchronization, which classically representsthe entrainment of frequencies of oscillations due toweak interactions. Studies in this field have led tovarious definitions and techniques for the analysis ofthis property. This is generally due to its prospectiveapplications especially in chemical reactions, powerconverters, biological systems, information process-ing and secure communications.[1−3] A wide varietyof approaches have been proposed for the synchro-nization or anti-synchronization of chaotic systems,which include generalized active control,[4−6] nonlin-ear control,[7,8] adaptive control[9,10] and sliding modecontrol.[11,12] Fortunately, some existing methods ofsynchronizing can be generalized to anti-synchronizechaotic systems. However, in practical engineering sit-uations, parameters are probably unknown and maychange from time to time. Therefore, there is a vi-tal need to effectively anti-synchronize two chaoticsystems (identical and different) with unknown pa-rameters. This is typically important in theoreticalresearch as well as practical applications. Amongthe aforementioned methods, adaptive sliding modecontrol is an effective option for achieving the anti-synchronization of chaotic systems with fully unknownparameters. To formulate the anti-synchronizationproblem of the chaotic system via adaptive slidingmode control, we consider the drive chaotic systemin the form
�� = 𝑓(𝑥) + 𝐹 (𝑥)𝛼, (1)
where 𝑥 ∈ Ω1 ⊂ 𝑅𝑛 is the state vector, 𝛼 ∈ 𝑅𝑚 isthe unknown parameter vector of the system, 𝑓(𝑥) isan 𝑛 × 1 matrix, 𝐹 (𝑥) is an 𝑛 × 𝑚 matrix and theelements 𝐹𝑖𝑗(𝑥) in matrix 𝐹 (𝑥) satisfy 𝐹𝑖𝑗(𝑥) ∈ 𝐿∞for 𝑥 ∈ Ω1 ⊂ 𝑅𝑛. On the other hand, the responsesystem is assumed by
�� = 𝑔(𝑦) +𝐺(𝑦)𝛽 + 𝑢(𝑡), (2)
where 𝑦 ∈ Ω2 ⊂ 𝑅𝑛 is the state vector, 𝛽 ∈ 𝑅𝑞 is theunknown parameter vector of the system, 𝑔(𝑦) is an
𝑛 × 1 matrix, 𝐺(𝑦) is an 𝑛 × 𝑞, 𝑢(𝑡) ∈ 𝑅𝑛 is controlinput vector, and the elements 𝐺𝑖𝑗(𝑦) in matrix 𝐺(𝑦)satisfy 𝐺𝑖𝑗(𝑦) ∈ 𝐿∞ for 𝑦 ∈ Ω2 ⊂ 𝑅𝑛. If system (1)and system (2) satisfy 𝑓(·) = 𝑔(·) and 𝐹 (·) = 𝐺(·),then the structures of system (1) and system (2) areidentical. Otherwise, the two systems will be differ-ent. Let 𝑒 = 𝑦 + 𝑥 be the anti-synchronization errorvector. Our goal is to design a controller 𝑢 such thatthe trajectory of the response system (2) with initialcondition 𝑦0 can asymptotically approach the drivesystem (1) with initial condition 𝑥0 and finally imple-ment the anti-synchronization such that
lim𝑡→∞
‖𝑒‖ = lim𝑡→∞
‖𝑦(𝑡, 𝑦0) + 𝑥(𝑡, 𝑥0)‖ = 0, (3)
where ‖ · ‖ is the Euclidean norm. The sliding modecontrol method of anti-synchronization involves twomajor stages: (1) choosing a suitable switching sur-face for the desired sliding motion; and (2) designingthe sliding mode controller that brings any orbit inphase space to the switching surface and then achiev-ing the anti-synchronization of the chaotic systemseven in the presence of parameter and disturbanceuncertainties. This is precisely why this method ofanti-synchronization is considered to be robust underuncertainties and external disturbances. The slidingsurface can be defined as follows:
𝑠(𝑒) = 𝐶𝑒, (4)
where 𝐶 = [𝑐1, 𝑐2, 𝑐3] is a constant vector. Choose thecontroller 𝑢(𝑡) as
𝑢(𝑡) = −𝑓(𝑥)− 𝑔(𝑦)− 𝐹 (𝑥)��−𝐺(𝑦)𝛽 −𝐾[ 𝑠
|𝑠|+ 𝛾
],
(5)where 𝐾 = [𝑘1, 𝑘2, 𝑘3]
𝑇 is a constant gain vector thatsatisfies 𝐶𝐾 > 0 and 𝑠 = 𝑠(𝑒) is a switching surfacewhich prescribes the desired dynamics. Here �� and 𝛽are the parameter estimates of 𝛼 and 𝛽, respectively;and 𝛾 is a positive real number. The resultant errordynamics is then
where 𝜆 = 𝑠[𝑐1, 𝑐2, 𝑐3]𝑇 = 𝑠𝐶𝑇 ; ��0 and 𝛽0 are the ini-
tial values of the update parameters �� and 𝛽, respec-tively. To check the stability of the proposed methodthe following theorem contains the necessary condi-tions for the stability of error system in Eq. (6).
(a)
(b)
(c)
x1x2
30
20
10
0
-10
-20
y1y2
40
30
20
10
0
-10
-20
-30
z1z2
t
1086420
60
50
40
30
20
10
0
Fig. 1. State trajectories of drive system (12) and re-sponse system (13) without controls (𝑢𝑖 = 0, 𝑖 = 1, 2, 3)under the initial condition (𝑥1(0), 𝑦1(0), 𝑧1(0)) = (𝑥2(0),𝑦2(0), 𝑧2(0)): (a) signals 𝑥1 and 𝑥2, (b) signals 𝑦1 and 𝑦2,(c) signals 𝑧1 and 𝑧2.
Theorem 1: Considering that adaptive slidingmode control input law in Eq. (5) is used to controlerror system in Eq. (6) with update laws of parame-ters in Eq. (7), then error system in Eq. (6) is asymp-totically and globally stable.
Proof: To check the stability of the controlled sys-tem, one can consider the following Lyapunov candi-date function:
𝑉 =1
2𝑠2 +
1
2‖𝛼− ��‖2 + 1
2‖𝛽 − 𝛽‖2. (8)
The time derivative of Eq. (8) is
�� = ��𝑠− (𝛼− ��)𝑇 ˙𝛼− (𝛽 − 𝛽)𝑇˙𝛽
= 𝑠𝐶��− (𝛼− ��)𝑇 ˙𝛼− (𝛽 − 𝛽)𝑇˙𝛽
= 𝑠��𝑇𝐶𝑇 − (𝛼− ��)𝑇 ˙𝛼− (𝛽 − 𝛽)𝑇˙𝛽. (9)
Introducing update laws in Eq. (7) into the right-handside of Eq. (9), one obtains
�� =[(𝛼− ��)𝑇𝐹 (𝑥)𝑇 + (𝛽 − 𝛽)𝑇𝐺(𝑦)𝑇
−𝐾𝑇[ 𝑠
|𝑠|+ 𝛾
]]𝑠𝐶𝑇 − (𝛼− ��)𝑇𝐹 (𝑥)𝑇𝜆
− (𝛽 − 𝛽)𝑇𝐺(𝑦)𝑇𝜆
=(𝛼− ��)𝑇𝐹 (𝑥)𝑇𝜆+ (𝛽 − 𝛽)𝑇𝐺(𝑦)𝑇𝜆
−𝐾𝑇𝐶𝑇[ 𝑠2
|𝑠|+ 𝛾
]− (𝛼− ��)𝑇𝐹 (𝑥)𝑇𝜆
− (𝛽 − 𝛽)𝑇𝐺(𝑦)𝑇𝜆. (10)
Then Eq. (10) reduces to
�� = −𝐶𝐾[ 𝑠2
|𝑠|+ 𝛾
]. (11)
Since both 𝑠2 > 0 and |𝑠| > 0 when 𝑒 = 0 and 𝐶𝐾 > 0,the inequality �� < 0 holds.
(a) (b)
(c)
(e)
(d)
(f)
30
20
10
0
-10
-20
-30
30
20
10
0
-10
-20
-3060
40
20
0
-20
-40
-60
40
30
20
10
0
-10
t
1086420
60
50
40
30
20
10
0
-10
t
1086420
50
40
30
20
10
0
-10
x1x2
a1b1c1
a2b2c2
e1e2e3
z1z2
y1y2
Fig. 2. State trajectories of drive system (12) and re-sponse system (13): (a) signals 𝑥1 and 𝑥2, (b) signals 𝑦1and 𝑦2, (c) signals 𝑧1 and 𝑧2, (d) the error signals 𝑒1, 𝑒2and 𝑒3 between the chaotic Lorenz system and the chaoticChen system under the controller (15); (f) the parameterestimates of the Lorenz system, (e) the parameter esti-mates of the Chen system
Since 𝑉 is positive definite and �� is negative semi-definite, then the error system is stable in the sense ofLyapunov and the slave system (2) anti-synchronizesthe master systems (1) asymptotically and globally.In order to observe anti-synchronization behavior be-tween two different chaotic systems via adaptive slid-ing mode control, the Lorenz system[13] is assumed asthe drive system and the Chen system[14] is taken asthe response system. The drive system can be writtenas
Our goal is to find proper control functions 𝑢𝑖(𝑖 =1, 2, 3) and parameter update rule, such that system(13) anti-synchronizes system (12) asymptotically, i.e.,lim𝑡→∞
‖𝑒‖ = 0, where 𝑒 = [𝑒1, 𝑒2, 𝑒3]𝑇 . If the two
systems are without controls (𝑢𝑖 = 0, 𝑖 = 1, 2, 3)and the initial condition is (𝑥1(0), 𝑦1(0), 𝑧1(0)) =(𝑥2(0), 𝑦2(0), 𝑧2(0)), then the trajectories of the twosystems will quickly separate each other and becomeirrelevant (see Figs. 1(a)–1(c)). However, when con-trols are applied, the two systems will approach anti-synchronization for any initial conditions by appropri-ate control functions. We shall propose the followingadaptive control law for system (13) The control pa-rameters are chosen as 𝐶 = (1, 1,−1),𝐾 = (5, 10, 0)𝑇
and 𝛾 = 0.01. Then the switching surface is equal to
𝑠(𝑒) = 𝑒1 + 𝑒2 − 𝑒3, (14)
and the adaptive sliding mode control law for the sys-tem is
𝑢1 = − 𝑎1(𝑦1 − 𝑥1)− 𝑎2(𝑦2 − 𝑥2)−5𝑠
|𝑠|+ 0.01,
𝑢2 = − 𝑏1𝑥1 + 𝑥1𝑧1 + 𝑦1 − (𝑏2 − 𝑎2)𝑥2 + 𝑥2𝑧2
− 𝑏2𝑦2 −10𝑠
|𝑠|+ 0.01,
𝑢3 = − 𝑥1𝑦1 + 𝑐1𝑧1 − 𝑥2𝑦2 + 𝑐2𝑧2, (15)
where 𝑎1, 𝑏1, 𝑐1, 𝑎2, 𝑏2 and 𝑐2 are the estimates of𝑎1, 𝑏1, 𝑐1, 𝑎2, 𝑏2 and 𝑐2 respectively. We have the up-date parameters’ law as follows:
Introducing the update laws (16) into the right-handside of Eq. (18), one obtains
�� = 𝑠(𝑎1 − 𝑎1)(𝑦1 − 𝑥1) + 𝑠(𝑎2 − 𝑎2)(𝑦2 − 𝑥2)
− 5𝑠2
|𝑠|+ 𝛾+ 𝑠(𝑏1 − 𝑏1)𝑥1 + 𝑠(𝑏2 − 𝑏2)𝑥2
− 𝑠(𝑎2 − 𝑎2)𝑥2 + 𝑠(𝑏2 − 𝑏2)𝑦2 −10𝑠2
|𝑠|+ 𝛾
+ 𝑠(𝑐1 − 𝑐1)𝑧1 + 𝑠(𝑐2 − 𝑐2)𝑧2
− (𝑎1 − 𝑎1)𝑠(𝑦1 − 𝑥1)
− (𝑏1 − 𝑏1)𝑠𝑥1 − (𝑐1 − 𝑐1)𝑠𝑧1
− (𝑎2 − 𝑎2)𝑠(𝑦2 − 𝑥2) + (𝑎2 − 𝑎2)𝑠𝑥2
− (𝑏2 − 𝑏2)𝑠(𝑥2 + 𝑦2)− (𝑐2 − 𝑐2)𝑠𝑧2. (19)
Then Eq. (19) reduces to
�� = − 15𝑠2
|𝑠|+ 𝛾. (20)
Since 𝑉 is positive definite, and �� is negativesemi-definite. Then the error system is stable inthe sense of Lyapunov and the response system(13) anti-synchronizes the drive system (12) asymp-totically and globally. In the numerical simula-tions, the fourth-order Runge–Kutta method is usedto solve the systems with time step size 0.001.For this numerical simulation, we assume the ini-tial conditions (𝑥1(0), 𝑦1(0), 𝑧1(0)) = (6, 3, 7) and(𝑥2(0), 𝑦2(0), 𝑧2(0)) = (2, 7, 4). Hence the error sys-tem has the initial values 𝑒1(0) = 8, 𝑒2(0) = 10and 𝑒3(0) = 11. The systems’ parameters are cho-sen as 𝑎1 = 10, 𝑏1 = 28, 𝑐1 = 8/3 and 𝑎2 = 35,𝑏2 = 28, 𝑐2 = 3 in the simulations such that both sys-tems exhibit chaotic behavior. The initial values forthe estimated parameters are chosen as 𝑎1(0) = 10,𝑏1(0) = 10, 𝑐1(0) = 10, 𝑎2(0) = 10, 𝑏2(0) = 10 and𝑐2(0) = 10. Anti-synchronization of the systems (13)and (12) via adaptive sliding mode control law (15) areshown in Fig. 2. Figures 2(a)–2(c) display the statetrajectories of drive system (12) and response system(13). Figure 2(d) displays the error signals 𝑒1, 𝑒2, 𝑒3 ofthe Lorenz and the Chen systems under the controller(15). Figures 2(e) and 2(f) shows the parameter esti-mates of the Lorenz and Chen systems, respectively.
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127302 Laser-Induced Indium-Diffusion into Cadmium Sulfide Thin Film for Solar Cell ApplicationsKIM Nam-Hoon, MYUNG Kuk Do, LEE Woo-Sun
127303 GaSb p-Channel Metal-Oxide-Semiconductor Field-Effect Transistors with Ni/Pt/AuSource/Drain Ohmic Contacts
WU Li-Shu, SUN Bing, CHANG Hu-Dong, ZHAO Wei, XUE Bai-Qing, ZHANG Xiong, LIU Hong-Gang
127304 Ultracompact Refractive Index Sensor Based on Surface-Plasmon-Polariton InterferenceWANG Chen, CHEN Jian-Jun, TANG Wei-Hua, XIAO Jing-Hua
127305 Enhanced Photovoltaic Properties of Gradient Doping Solar CellsZHANG Chun-Lei, DU Hui-Jing, ZHU Jian-Zhuo, XU Tian-Fu, FANG Xiao-Yong
127501 Influence of Film Roughness on the Soft Magnetic Properties of Fe/Ni Multilayers
LUO Zhi-Yuan, TANG Jia, MA Bin, ZHANG Zong-Zhi, JIN Qing-Yuan, WANG Jian-Ping
127601 Preparing Pseudo-Pure States in a Quadrupolar Spin System Using Optimal ControlTAN Yi-Peng, NIE Xin-Fang, LI Jun, CHEN Hong-Wei, ZHOU Xian-Yi, PENG Xin-Hua, DU Jiang-Feng
127701 Ultrasonic Energy Transference Based on an MEMS ZnO Film ArrayWU Shao-Hua, ZHAO Zhan, ZHAO Jun-Juan, GUO Li-Jun, DU Li-Dong, FANG Zhen, KONG De-Yi,XIAO Li, GAO Zhong-Hua
127801 A Novel Efficient Red Emitting Iridium Complex for Polymer Light Emitting DiodesHU Zheng-Yong, YANG Jian-Kui, LUO Jing, LIANG Min, WANG Jing
127802 An Improvement on the Junction Temperature Measurement of Light-Emitting Diodes byusing the Peak Shift Method Compared with the Forward Voltage MethodHE Su-Ming, LUO Xiang-Dong, ZHANG Bo, FU Lei, CHENG Li-Wen, WANG Jin-Bin, LU Wei
127803 The Evolution of Defects in Deformed Cu-Ni-Si Alloys during Isochronal Annealing Studiedby Positron AnnihilationQI Ning, JIA Yan-Lin, LIU Hui-Qun, YI Dan-Qing, CHEN Zhi-Quan
127804 Origin of Ferromagnetism in Zn1−xCoxO Thin Films: Evidences Provided by Hard and SoftX-Ray Absorption SpectroscopyXI Shi-Bo, CUI Ming-Qi, QIN Xiu-Fang, XU Xiao-Hong, XU Wei, ZHENG Lei, ZHOU Jing, LIU Li-Juan,YANG Dong-Liang, GUO Zhi-Ying
CROSS-DISCIPLINARY PHYSICS AND RELATED AREAS OF SCIENCE ANDTECHNOLOGY
128101 The High Nitrogen Pressure Synthesis of Manganese NitrideSI Ping-Zhan, JIANG Wei, WANG Hai-Xia, ZHONG Min, GE Hong-Liang, CHOI Chul-Jin,LEE Jung-Goo
128102 The Synthesis and Characterization of Peach-Like ZnOA. Kamalianfar, S. A. Halim, Siamak Pilban Jahromi, M. Navasery, Fasih Ud Din, K. P. Lim, S. K. Chen,J. A. M. Zahedi
128103 The Effects of Heating Mechanism on Granular Gases with a Gaussian Size DistributionLI Rui, XIAO Ming, LI Zhi-Hao, ZHANG Duan-Ming
128401 Independently Tunable Multichannel Filters Based on Graphene Superlattices with FractalPotential PatternsZHANG Hui-Yun, ZHANG Yu-Ping, GAO Ying, YIN Yi-Heng
128501 The Structural and Electrical Properties of Al/Pb(Zr0.52Ti0.48)O3/Al2O3/Si with an Al2O3
Layer Prepared by using the Molecular Atomic Deposition MethodYANG Yi, ZHOU Chang-Jian, PENG Ping-Gang, XIE Dan, REN Tian-Ling, PAN Xiao, LIU Jing-Song
128502 A 50–60V Class Ultralow Specific on-Resistance Trench Power MOSFETHU Sheng-Dong, ZHANG Ling, CHEN Wen-Suo, LUO Jun, TAN Kai-Zhou, GAN Ping, ZHU Zhi,WU Xing-He
128901 Topological and Spectral Perturbations in Complex NetworksYAN Xin, WU Yang
128902 Pheromone Static Routing Strategy for Complex NetworksHU Mao-Bin, Henry Y.K. Lau, LING Xiang, JIANG Rui
128903 Self-Similarity in Game-Locked AggregationWANG Chao, XIONG Wan-Ting, WANG You-Gui