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46 3 Vol.46 No.

3
20175 Journal of University of Electronic Science and Technology of China May 2017



( 264001)

Lyapunov

; ; ; ;
TP273 A doi:10.3969/j.issn.1001-0548.2017.03.013

A Novel Sliding Mode Synchronization Method of Uncertain


Fractional-Order Chaotic Systems
SUN Mei-mei, HU Yun-an, and WEI Jian-ming
(Department of Control Engineering, Naval Astronautical and Aeronautical University Yantai Shangdong 264001)

Abstract A novel adaptive sliding mode synchronization controller for uncertain fractional order chaotic
systems is proposed in this paper. The proposed controller can realize the synchronization of systems with
parameters perturbation, function uncertainties, and exterior disturbance. The new sliding mode surface with
fractional order has advantages of week chattering and high convergent rate. A novel fractional order adaptive
updating law is proposed to prevent the estimations from increasing infinitely. The sliding mode surface and the
parameter estimation error of the controller are modelled by utilizing frequency distribution model, and the
convergence of the error system is verified by Lyapunov functions, avoiding the mistake caused by directly
applying pseudo state variables for the analysis of system synchronization error. Simulation results demonstrate the
effectiveness of the proposed scheme.
Key words adaptive control; chaos; fractional-order; sliding mode control; synchronization

[3]H[4][5][6]


[7-14][15]

[16]

[17]

[18]

(LMI) Mittag-Leffler
[1-2]

2015 12 21 2016 03 15
(61433011)
(1987 ).
556 46

2 Riemann-Liouvill
Lyapunov 1 d n t f ( )d
( n ) dt n a (t ) n+1

D
a t f ( t ) = (2)

n 1 < < n
Riemann-Liouvill20
60Caputo

3 Caputo
1 t f ( )d
n 1 < < n (3)

a Dt f (t ) =
( n ) (t ) n+1
a


Mittag-Leffler[19]
[20]KLyapunov[21]
[22]1
[23] Caputo

D a Dt
[24-26]
2

D x (t ) = Ax (t ) + f ( x, t ) (4)

x (t ) = [ x1 (t ), x2 (t ),", xn (t )]
T

f ( x, t ) R n

A R nn Ax (t ) f ( x, t )

(4)


[27]

(4)
1
D y (t ) = ( A + Ay ) y (t ) + g ( y, t ) +

g ( y, t ) + d (t ) + u(t ) (5)

n n
y (t ) R Ay R
n

1 Riemann-Liouville g ( y, t ) Rn
[28-29] f (t ) n(n) g ( y , t ) Rn Ay
1 t
g ( y, t )
I n ( f (t )) =
( n) 0
(t ) f ( )d (1)

u(t ) Rn
(n) = 0
t n1et dt Euler's Gamma e = y x
a Dt u(t ) lim || e (t ) || 0
t
at3
Grnwald-Letnikov (4)(5)
Riemann-LiouvillCaputo[29-30] D e (t ) = Ae + Ay (t ) + g ( y , t ) f ( x, t ) +
3 : 557

g ( y, t ) + d (t ) + u(t ) (6) 1[1,22]


1 Ay R nn g ( y ) Rn D x (t ) = AD x (t ) x (0) = x0 (9)
d (t ) Rn 0 < < 1 x (t ) R n

|| A || 1 || g ( y ) + d || 2 (7) AD R nn arg( ( AD ))
2
1 2
arg( ( AD )) >
1 4 2

t
A f ( x, t )
j

D x1 = a ( x2 x1 ) a a 0 0
d c 0 x x
Chen D x2 = dx1 x1 x3 + cx2 1 3

D x3 = x1 x2 bx3 0 0 b x1 x2

D x1 = a ( x2 x1 ) a a 0 0

b 1 0 x x
Lorenz D x2 = x1 (b x3 ) x2 1 3
0 0 c x1 x2 /2
D x3 = x1 x2 cx3

D x1 = a ( x2 x1 ) a a 0 0
0 c 0 x x
L D x2 = x1 x3 + cx2 1 3 / 2
0 0 b x1 x2
D x3 = x1 x2 bx3


D x1 = ax1 ex22 a 0 0 ex22
0 b 0
Liu D x2 = kx1 x3 + bx2 kx1 x3
0 0 c mx x
D x3 = mx1 x2 cx3 1 2

3 2

3.1 2[30] D y ( t ) = ( t )
0 < < 1 y (t ) R (t ) R

z ( , t )
t = z ( , t ) + (t )
D x = kx (8) (10)
y (t ) = ( ) z ( , t )d
= 1 (8) 0
e kt
1 (8) ( ) = sin()/
t
1[31] z (, t ) R

s(t ) = e(t ) + CI e(t ) (11)
n n nn
y C = diag[c1 , c2 ,", cn ] R s(t ) R
s ( x, y ) = 0 nn
e(t ) R I Riemann-Liouville


x
3 D s(t ) = D e (t ) + Ce(t ) (12)
s (t ) s
3
1 t
s = 0 D s = 0
D e (t ) = Ce (t )
m
2 (13)
2 1
1 C
tm C || e ||1 0
( x0 , y0 )
2
1
558 46

z ( , t ) z1 ( , t )
t = z ( , t ) + D s

= z1 ( , t ) + D 1
(14) t (21)



s = ( ) z ( )d  = ( ) z ( , t )d
0 1
0 1

( ) = sin( )/ z ( , t ) R z 2 ( , t )
= z 2 ( , t ) + D 2
Lyapunov t
(22)
1
 = ( ) z ( , t )d
Vs (t ) = ( ) z T ( , t )z (, t )d
2 0 2
0 2

Lyapunov
z ( , t ) 1
Vs (t ) = ( ) z T ( , t ) d =
2 q1 0
V (t ) = ( ) z21 ( , t ) d +
0 t

0
( ) z T ( , t )( z ( , t ) + D s )d = 1
( ) z22 (, t ) d (23)

2q2 0

( ) z T (, t )z (, t )d + s T D s =
0
1 1
( ) z T (, t ) z (, t )d + s T ( D e + Ce ) = V (t ) = ( ) z21 ( , t ) + 1 D 1
0 q1 0 q1

( ) z T (, t ) z (, t )d + 1 1
q2 0
0
( ) z22 (, t )d + 2 D 2 (24)
q2
s T ( Ae + Ay(t ) + g ( y , t ) f ( x, t ) + g ( y , t ) +
1 (4)
d (t ) + u(t ) + Ce ) (15) (5)
3.2 (11)(16)
(18)(19)
u = Ae 1 sgn( s ) || y(t ) || 2 sgn( s ) (6)
g ( y, t ) + f ( x, t ) Ce Ks (16)

1 , 2 1 , 2 (16)(15) Lyapunov

Vs (t ) ( ) z T ( , t ) z ( , t )d + V (t )=Vs (t ) + V (t ) (25)
0
(25) t
s T ( Ay (t ) + g ( y , t ) 1 sgn( s) || y(t ) ||
2  2 2
 T

2 sgn( s )) Ks T s V (t )=Vs (t ) + V (t )

( ) z T (, t ) z (, t ) d +
( ) z T (, t ) z (, t ) d
0
0
|| s || 1 || y(t ) || + || s || 2 1 || s |||| y(t ) || 1
q1 0
( ) z21 (, t ) d
2 || s || Ks s =
T


( ) z T (, t ) z (, t )d 1
0
q2 0
( ) z22 (, t ) d
1 || s |||| y (t ) || 2 || s || Ks T s (17) 1 1 2 2
1 = 1 1 2 = 2 2 12 + 12 22 + 22 Ks T s
2 2 2 2

( ) z T (, t ) z (, t ) d
D 1 = q1 (|| s |||| y(t ) || 11 ) (18) 0

1
q1 0

D 2 = q2 (|| s || 22 ) (19) ( ) z21 (, t ) d
q1 , q2 , 1 , 2 > 0
1 1 2
D 1 = D 1 D 1 = D 1

(20) q2 0
( ) z2 (, t ) d +
2
2
12 +
2
22 (26)

D 2 = D 2 D 2 = D 2

( )
2 [0, )
3 : 559

Vs (t ) = 30

1 sin( ) T
0
z ( , t )z ( , t )d = 20
2
1 sin( ) T 10
z (, t )z (, t )d (27)
2 0
0

x2
[0, )
10
0
( ) z T (, t ) z (, t ) d =
20
sin( ) 1 T
0
z (, t )z (, t )d =
30
25 20 15 10 5 0 5 10 15 20 25
sin( ) 1 T
z (, t )z (, t )d = x1
0
a. Chen
1 40
2 Vs = 1Vs (28)
35
1
30
1 = 2 25

20
2 , 3 > 0

x3
15
1
q1 0
( ) z21 ( , t )d = 10
5
1 0
2q1 0
2 ( ) z21 ( , t )d (29)
5
25 20 15 10 5 0 5 10 15 20 25
1
q2 0
x1
( ) z22 ( , t )d =
b. Chen
1 Chen( = 0.98 )
2q2 0
3 ( ) z22 ( , t )d (30) 3


(26)
35 35 0 1 0
V (t ) V + Q (31) 7 12 0 0 y y
y+
1 3
1 2 D y = +
= min{1 , 2 , 3 } Q = 12 + 22 0 0 8 0 y1 y2
2 2
0 0 0 0.3 y2 y3
Q g ( y ) + d (34)
V (t ) V (0)e t + (1 e t ) (32)

V (t ) Q / g1 ( y ) = 0.2sin(4t ) y1 d1 = 0.12 cos(2t )
g ( y ) = 0.25cos(5t ) y d = 0.2sin(3t )
2 2 2
(35)
= {V Q / } 3 g ( y ) = 0.15cos(2 t ) y 3 d 3 = 0.1cos(5t )
g 4 ( y ) = 0.2sin(3t ) y4 d 4 = 0.15sin(t )
4
q1 = 0.01 q2 = 0.01
Chen = 0.98 C = diag(2,2.15,3,1.6)
K = diag(2,3,3,2) 4
35 35 0 1 0
7 12 0 x x
0
x+
1 3
D x = (33)
0 0 8 0 x1 x2
5
0 0 0 0.3 x2 x3
x (0) = (3, 2,1, 1)T
3
560 46

2.5 0.20

2.0 0.15

1
1.5 0.10
1.0 0.05

0.5 0
0 1 2 3 4 5 6 7 8 9 10
e1

0 t/s
0.5 a. z1
1.0 0.20
1.5 0.15

2
2.0 0.10
0 1 2 3 4 5 6 7 8 9 10
t/s 0.05
0
a. e1 0 1 2 3 4 5 6 7 8 9 10
t/s
2.5
2.0 b. z2

1.5 5
1.0
0.5 5
e2

0

0.5
1.0
1.5
2.0
0 1 2 3 4 5 6 7 8 9 10
t/s
b. e2 PI
2.5
2.0
1.5
1.0
Lyapunov
0.5

e3

0
0.5
1.0
1.5
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