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RESEARCH ARTICLE
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Abstract:
A class of coupled neural networks with different internal time-delays and coupling delays is
investigated, which consists of nodes of different dimensions. By constructing suitable Lyapunov
functions and using the linear matrix inequality, the criteria of exponential stabilization for the coupled
dynamical system are established, and formulated in terms of linear matrix inequality. Finally, numerical
examples are presented to verify the feasibility and effectiveness of the proposed theoretical results.
Keywords----nodes of different dimensions; coupled dynamical system with time delays;
exponential stabilization; linear matrix inequality; Lyapunov function
----------------------------------------************************---------------------------------I.
INTRODUCTION
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Page 141
T
T
= D x (t ) + A f ( x (t )) + B f ( x (t ))
dt
i i
j =1
j =1
+ i gij Cij x j (t ) + i g ij ij x j (t i 2 ) + ui (t ),
(1)
dxi (t )
= Di xi (t ) + Ai fi ( xi (t )) + Bi fi ( xi (t i1 )),
dt
ISSN: 2394-2231
L , f N ( xN (t N 1 )))
i1
a block-diagonal matrix;
D = diag ( D1 , D2 ,L , DN ) ; A = diag ( A1 , A2 ,L , AN ) ;
B = diag ( B1 , B2 ,L , BN ) ; Wi = diag ( wi1 , wi 2 ,L , win ) ;
i
(2)
W = diag (W1 , W2 ,L , WN ) ;
X
*
Y
is
Z
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Page 142
dX (t )
= ( D + K ) X (t ) + AF ( X (t )) + BF ( X (t 1 ))
(5)
dt
+ H1 X (t ) + H 2 X (t 2 ),
where
1 g12 C12 L 1 g1N C1N
1 g11C11
g C
L 2 g 2 N C2 N
2 g 22 C22
,
H1 = 2 21 21
M
M
O
M
N g N 1CN 1 N g N 2 CN 2 L N g NN CNN
1 g12 12 L 1 g1N 1N
1 g1111
g
L 2 g 2 N 2 N
2 g 22 22
.
H 2 = 2 21 21
M
M
O
M
N g N 1 N 1 N g N 2 N 2 L N g NN NN
is
Assume that
X * = ( x1*T , x2*T ,L , x*N T )T
the
equilibrium point of the coupled dynamical system
(1), then itsatisfies
=sup
s 0
ni
e ( s) .
2
ij
i =1 j =1
be described as follows:
where QT ( x ) = Q ( x) , RT ( x) = R ( x ) , is equivalent to
i
dei (t )
= Di ei (t ) + Aii (ei (t )) + Bii (ei (t i1 ))
dt
and Q ( x) S ( x ) R 1 ( x ) S T ( x) > 0 .
(7)
Lemma 3 [5]If Q , R are real symmetric matrices,
N
N
+ i gij Cij e j (t ) + i g ij ij e j (t i 2 ) + U i (t )
and Q > 0 , R 0 , then a positive constant exist,
j =1
j =1
such that the following inequality holds:
That is,
Q + R < 0 .
dE (t )
= DE (t ) + A ( E (t )) + B( E (t 1 ))
,(8)
dt
III.
EXPONENTIAL STABILIZATION ANALYSIS
+ H1 E (t ) + H 2 E (t 2 ) + U (t )
Theorem 1.Under the assumption 1, the coupled
where
T
dynamical
system (1) is exponential stabilization,if
ei (t ) = (ei1 (t ), ei 2 (t ),L , ein (t ))
M M positive definite diagonal matrices
there
exist
= ( xi1 (t ) xi*1 , xi 2 (t ) xi*2 ,L , xin (t ) xin* )T ,
P , Q , R and K ,such that the following linear
i (ei (t )) = f i ( xi (t )) f i ( xi ), U i (t ) = K i ei (t ),
matrix inequalities hold: > 0 ,where
R( x) > 0 ,
i (ei (t i1 )) = f i ( xi (t i1 )) f i ( xi ), U (t ) = KE (t ),
E (t ) = (e1T (t ), e2T (t ),L , eNT (t ))T , E (t ) = X (t ) X * ,
ISSN: 2394-2231
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Page 143
= *
*
*
PA PB PH1
Q
0
0
*
R
0
*
*
Q
*
*
*
PH 2
0
0 > 0 ,(9)
0
Q
e (t + ) T ( E (t )) R ( E (t ))
et T ( E (t 1 )) R ( E (t 1 ))
= PD + D T P + K + K T WQW WRW 2Q
Pi = diag ( pi1 , pi 2 ,L , pini ), P = diag ( P1 , P2 ,L , PN ),
E T (t ) PAQ 1 AT PE (t ) + E T (t )WQWE (t ),
*
1 = *
*
*
PH 2
0
0 <0,
0
Q
*
PA PB PH1
Q 0
0
* R
0
*
*
Q
*
*
*
E T (t ) PH 2Q 1 ( H 2 )T PE (t ) + E T (t 2 )QE (t 2 )
2 E T (t ) PH 1 E (t )
E T (t ) PH1Q 1 ( H1 )T PE (t ) + E T (t )QE (t )
(11)~(17) into V& (t ) , it yields
(16)
(17)
(18)
+ PH1Q ( H1 ) P + PH 2 Q ( H 2 ) P 2 PK ]E (t )}
V1 (t ) = et eiT (t ) Pe
i i (t )
+ PH1Q 1 ( H1 )T P + PH 2 Q 1 ( H 2 )T P
i =1
2 E T (t ) PH 2 E (t 2 )
(15)
V& (t ) et {E T (t )[ P PD DT P + WQW + e Q
V (t ) = V1 (t ) + V2 (t ) + V3 (t ) ,(10)
E T (t ) PBR 1 B T PE (t ) + T ( E (t 1 )) R ( E (t 1 )),
Substituting
V2 (t ) =
2 E T (t ) PB ( E (t 1 ))
(19)
<0
t i 2
i1
= et E T (t ) PE (t ) + 2et E T (t ) PE& (t )
i =1
i =1
N
( t i 2 + ) T
(12)
ei (t i 2 )Qi ei (t i 2 )
i =1
e (t + ) E T (t )QE (t ) et E T (t 2 )QE (t 2 )
i =1
i 1
i =1
i =1
+
i =1
i 1
( s + ) T
= E T (0) PE (0) +
N
ISSN: 2394-2231
i 2
i 2
(20)
e ( s + ) eiT ( s )Qi ei ( s)ds
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Page 144
i =1
e max (Q ) e s ds
i =1
e 1
max (Q)
e e s E T ( s )WRWE ( s )ds
e max (WRW ) e s ds
(22)
e 1
max (WRW )
V (0) max ( P ) +
e 1
(23)
= {max ( P) +
e 1
2
e t min ( P ) E (t ) V1 (t ) V (t )
From
min ( P)
V (0) .
{max ( P)
e 1
2
= Z e t
+
where
Z=
min ( P )
0.6
-0.8 ,
-0.2
0.9
,
0.3
-0.2 -0.4
0.9 -0.9 0.7
11 =
, 12 = -0.6 0.1 0.3 ,
0.9
0.4
0.3 0.7
-0.6
0.3
-0.7 0.1
e t min ( P ) E (t )
E (t )
and
-0.8
B2 = -0.5
-0.3
0.1
C11 =
-0.1
{max ( P) +
,
(24) respectively. Therefore, it is easy to derive that
wil = 1 , and W = I 5 , for i = 1, 2,L , N , l = 1, 2,L , ni .
By using the MATLAB LMI Control Toolbox,
solving the linear matrix inequalities in Theorem 1,
(25) it yields the following feasible solutions:
0 0 6
ISSN: 2394-2231
-0.5
0.4
0.9
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0.6
x11(t)
x 1 (t)
0.4
x12(t)
0.2
0
-0.2
0.5
1.5
2.5
t
3.5
4.5
x 2 (t)
0.5
x 21(t)
x 22(t)
x 23(t)
Then, we have
-0.5
0.5
1.5
2.5
t
3.5
4.5
the
initial
condition
T
X (0) = (1, 1, 2, 2,1) ,according to Theorem 1,the
Fig. 1.The state trajectories of coupled
coupled
dynamical system (1) can achieve the
dynamical system in Example 1.
exponential
stabilization and the equilibrium point
Example 2. Consider a coupled dynamical
system (1) is composed of two isolated node is
X = ( 0.0376, 0.1092, 0.1181, 0.1190, 0.0145)T ,
networks, in which the parameters are given as
the simulation results are plotted in Fig. 2. All state
follows:
trajectories converge to the equilibrium point, and
N = 2 , n1 = 2 , n2 = 3 , f ( xil ) = sin( xil )+1 ,
the equilibrium point of the coupled dynamical
i = 1, 2 , l = 1,..., ni ,
system (1) is different from that of each isolated
29 0
1 -1
-3 1
D1 =
A
=
B
=
node network (2).
, 1
, 1
,
3 -3
21 = 2 1 ,
-3 5
-4
1 4
-5 -5 4
1 -1 , B2 = 1 2 4 ,
2 -4 3
1 1
4 -2 -4
=
,
-2 -4 2
-2
3 -5 -5
, 12 =
,
2
-1 -3 1
4
-4 2 1
-2 , C22 = 3 -5 4 ,
-4 4 4
4
-4 3 -3
0.9 0.7
22 = -5 2 3 , G =
,
0.1 0.4
-2 4 3
1.5
x 1(t)
5
-3
A2 = 1
-2
-1
, C12
-2
x 11(t)
0.5
x 12(t)
0
-0.5
-1
-1.5
x 2(t)
0 36
33 0 0
D2 = 0 21 0 ,
0 0 34
-5
C11 =
1
-1
11 =
-1
1
C21 = -5
2
Given
0.5
1.5
2.5
t
3.5
4.5
x 21(t)
x 22(t)
x 23(t)
0
-1
-2
0
0.5
1.5
2.5
t
3.5
4.5
V. CONCLUSION
By calculating, we know that equilibrium points
In this paper, the exponential stabilization
of the two isolated node networks (2) are
problem has been investigated for the coupled
T
neural networks. Thedimensions of states in each
x%1 = ( 0.0645, 0.2690 )
isolated network can be different, and dimensions
T
x%2 = ( 0.3305, 0.3848, 0.0039 ) ,
of nodes are actually differentin many practical
ISSN: 2394-2231
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[13]
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