Beruflich Dokumente
Kultur Dokumente
Research Article
Hopf Bifurcation Control in a Delayed Predator-Prey System
with Prey Infection and Modified Leslie-Gower Scheme
Copyright © 2013 Z. Zhang and H. Yang. This is an open access article distributed under the Creative Commons Attribution
License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly
cited.
Hopf bifurcation of a delayed predator-prey system with prey infection and the modified Leslie-Gower scheme is investigated.
The conditions for the stability and existence of Hopf bifurcation of the system are obtained. The state feedback and parameter
perturbation are used for controlling Hopf bifurcation in the system. In addition, direction of Hopf bifurcation and stability of
the bifurcated periodic solutions of the controlled system are obtained by using normal form and center manifold theory. Finally,
numerical simulation results are presented to show that the hybrid controller is efficient in controlling Hopf bifurcation.
Lemma 1. For the polynomial equation (13), since 𝑟0 ≤ 0, one From (11), we have
has the following results:
(i) if 𝑟0 < 0, then (13) has at least one positive root; 𝜔06 + (𝐴22 − 2𝐴 1 ) 𝜔04 + 𝐴21 𝜔02
(19)
(ii) if 𝑟0 = 0 and 𝑝02 − 3𝑞0 ≤ 0, then (13) has no positive = 𝐵22 𝜔04 + (𝐵12 − 2𝐵0 𝐵2 ) 𝜔02 + 𝐵02 .
roots;
(iii) if 𝑟0 = 0 and 𝑝02 − 3𝑞0 > 0, then (13) has positive roots Thus,
if and only if 𝑧1∗ = ((−𝑝0 + √𝑝02 − 3𝑞0 )/3) > 0 and
−1
ℎ(𝑧1∗ ) ≤ 0. 𝑑𝜆 (𝜏0 )
Re ( )
𝑑𝜏
Suppose that the coefficients in ℎ(𝑧) satisfy the following
condition (𝐻3 ): 𝑟0 < 0 or 𝑟0 = 0, 𝑝02 − 3𝑞0 > 0, 𝑧1∗ > 0, and 3𝜔04 + 2 (𝐴22 − 𝐵22 − 2𝐴 1 ) 𝜔02 + 𝐴21 − 𝐵12 + 2𝐵0 𝐵2
ℎ(𝑧1∗ ) < 0. = (20)
𝜔06 + (𝐴22 − 2𝐴 1 ) 𝜔04 + 𝐴21 𝜔02
If the condition (𝐻3 ) holds, then (13) has at least one
positive root. Without loss of generality, we assume that (13) ℎ (𝑧0 )
has three positive roots that are denoted as 𝑧1 , 𝑧2 , and 𝑧3 . = .
Then, (11) has tree positive roots 𝜔𝑘 = √𝑧𝑘 , 𝑘 = 1, 2, 3, and for 𝜔06 + (𝐴22 − 2𝐴 1 ) 𝜔04 + 𝐴21 𝜔02
every fixed 𝜔𝑘 , the corresponding critical value of time delay
(𝑗)
𝜏𝑘 is Obviously, if ℎ (𝑧0 ) ≠ 0, then Re(𝑑𝜆(𝜏0 )/𝑑𝜏)−1 ≠ 0. In
addition, sgn(𝑑 Re 𝜆(𝜏0 )/𝑑𝜏) = sgn Re(𝑑𝜆(𝜏0 )/𝑑𝜏).
(𝑗) 1 (𝐴 𝐵 + 𝐵 ) 𝜔4 − (𝐴 1 𝐵1 + 𝐴 2 𝐵0 ) 𝜔𝑘2 2𝑗𝜋 Thus, the proof is completed.
𝜏𝑘 = arccos 2 22 4 1 2𝑘 + ,
𝜔𝑘 𝐵2 𝜔𝑘 + (𝐵1 − 2𝐵0 𝐵2 ) 𝜔𝑘2 + 𝐵02 𝜔𝑘
Similar as in Section 2, we can easily get that if the 𝑓1 = 𝑎13 𝑆2 + 𝑎14 𝑆𝐼,
following condition (𝐻4 ) holds (𝐻4 ): 𝑐1 𝑟𝐾2 (𝑎2 𝛼 + 𝛾2 ) +
𝑐𝑐2 𝑟𝛼𝐾1 < 𝑐2 𝛽𝐾𝐾1 (𝑟𝛼 + 𝛾), then, system (21) has a unique 𝑓2 = 𝑎24 𝑆𝐼 + 𝑎25 𝐼2 + 𝑎26 𝐼𝑦 + 𝑎27 𝐼2 𝑦 + 𝑎28 𝐼3 + ⋅ ⋅ ⋅ ,
positive equilibrium 𝐸∗ (𝑆∗ , 𝐼∗ , 𝑦∗ ) where
𝑓3 = 𝑐31 𝑦𝑦 (𝑡 − 𝜏) + 𝑐32 𝑦𝐼 (𝑡 − 𝜏) + 𝑐33 𝐼2 (𝑡 − 𝜏)
− [𝐵1 − 𝐵2 ] + √Δ 2 + 𝑐34 𝐼 (𝑡 − 𝜏) 𝑦 (𝑡 − 𝜏) + 𝑐35 𝐼3 (𝑡 − 𝜏)
𝐼∗ = ,
2𝛼𝑐2 (𝛽 + 𝛽2 𝐾/𝑟)
+ 𝑐36 𝐼2 (𝑡 − 𝜏) 𝑦 + 𝑐37 𝐼2 (𝑡 − 𝜏) 𝑦 (𝑡 − 𝜏)
∗
(𝑎2 𝛼 + 𝛾2 ) (𝐼 + 𝐾2 )
𝑦∗ = (22) + 𝑐38 𝑦𝐼 (𝑡 − 𝜏) 𝑦 (𝑡 − 𝜏) + ⋅ ⋅ ⋅ ,
𝛼𝑐2
(25)
1 𝑐 𝑦∗
𝑆∗ = (𝑐 + ∗ 1 ), with
𝛽 𝐼 + 𝐾1
𝛼𝑟 𝛼𝑟
𝑎13 = − , 𝑎14 = − − 𝛼𝛽,
with 𝐾 𝐾
𝑐1 𝐾1 𝛼𝑦∗
𝛽2 𝐾 𝑎24 = 𝛼𝛽, 𝑎25 = 3
,
𝐵1 = 𝛼𝑐2 𝐾1 (𝛽 + ) + 𝑐1 (𝑎2 𝛼 + 𝛾2 ) , (𝐼∗ + 𝐾1 )
𝑟
𝑐1 𝐾1 𝛼 2𝑐1 𝐾1 𝛼
𝑐 𝐾𝛽𝛾 𝑎26 = − 2
, 𝑎27 = 3
,
𝐵2 = 𝛼𝑐2 (𝛽𝐾 − 𝑐) + 2 , ∗
(𝐼 + 𝐾1 ) (𝐼∗ + 𝐾1 )
𝑟
𝑐1 𝐾1 𝛼𝑦∗ 𝛼𝑐2
𝛽2 𝐾 𝑎28 = − 4
, 𝑐31 = − ,
Δ 2 = [𝛼𝑐2 𝐾1 (𝛽 + ) + 𝑐1 (𝑎2 𝛼 + 𝛾2 ) (𝐼∗ + 𝐾1 ) 𝐼∗ + 𝐾2
𝑟
2 (26)
2 𝛼𝑐2 𝑦∗ 𝛼𝑐2 𝑦∗
𝑐 𝐾𝛽𝛾 𝑐32 = , 𝑐33 = ,
−𝛼𝑐2 (𝛽𝐾 − 𝑐) − 2 ] (𝐼∗ + 𝐾2 )
2
(𝐼∗ + 𝐾2 )
3
𝑟
2
𝛼𝑐2 𝑦∗ 𝛼𝑐2 𝑦∗
𝛽2 𝐾 𝑐34 = , 𝑐35 = ,
− 4𝛼𝑐2 (𝛽 + ) (𝑐1 𝐾2 (𝑎2 𝛼 + 𝛾2 ) (𝐼∗ + 𝐾2 )
2
(𝐼∗ + 𝐾2 )
4
𝑟
𝑐 𝛼𝑐2 𝑦∗ 𝛼𝑐2 𝑦∗
−𝛼𝑐2 𝐾1 (𝛽𝐾 − 𝑐) − 2 𝐾𝐾1 𝛽𝛾) . 𝑐36 = − 3
, 𝑐37 = − 3
,
𝑟 (𝐼∗ + 𝐾2 ) (𝐼∗ + 𝐾2 )
(23)
𝛼𝑐2
𝑐38 = 2
.
Using Taylor expansion to expand the right-hand side of (𝐼∗ + 𝐾2 )
system (21) at the positive equilibrium 𝐸∗ (𝑆∗ , 𝐼∗ , 𝑦∗ ), we have
The linear system of (24) is
𝑑𝑆 𝑑𝑆
= 𝑎11 𝑆 + 𝑎12 𝐼 + 𝑓1 ,
= 𝑎11
𝑆 + 𝑎12 𝐼,
𝑑𝑡 𝑑𝑡
𝑑𝐼 𝑑𝐼
= 𝑎21 𝑆 + 𝑎22 𝐼 + 𝑎23 + 𝑓2 , (24) = 𝑎21 𝑆 + 𝑎22 𝐼 + 𝑎23 , (27)
𝑑𝑡 𝑑𝑡
𝑑𝑦 𝑑𝑦
= 𝑏32 𝐼 (𝑡 − 𝜏) + 𝑏33 𝑦 (𝑡 − 𝜏) + 𝑓3 , = 𝑏32 𝐼 (𝑡 − 𝜏) + 𝑏33 𝑦 (𝑡 − 𝜏) .
𝑑𝑡 𝑑𝑡
where 𝜔𝑘 is a positive root of the following equation: Thus, by the Riesz representation theorem, there exists a 3 × 3
matrix function 𝜂(𝜃, 𝜇) : [−1, 0] → 𝑅+3 whose elements are
6 4 2
of bounded variation such that
𝜔 + 𝑝0 𝜔 + 𝑞0 𝜔 + 𝑟0 = 0, (32)
0
𝐿 𝜇 𝜙 = ∫ 𝑑𝜂 (𝜃, 𝜇) 𝜙 (𝜃) , 𝜙 ∈ 𝐶 ([−1, 0] , 𝑅+3 ) . (38)
with −1
2 2 In fact, we choose
𝑝0 = 𝐴2 − 𝐵2 − 2𝐴1 ,
(33)
𝑞0 = 𝐴1
2
− 𝐵1
2
+ 2𝐵0 𝐵2 , 𝑟0 =
2
−𝐵0 . 𝜂 (𝜃, 𝜇) = (𝜏0 + 𝜇) 𝐴 𝛿 (𝜃) − (𝜏0 + 𝜇) 𝐵 𝛿 (𝜃 + 1) . (39)
𝜏0 = 𝜏𝑘
(0)
= min {𝜏𝑘 } ,
(0)
𝜔0 = 𝜔𝑘 0 , 𝑘 = 1, 2, 3. (34) { 𝑑𝜙 (𝜃)
{
{ , −1 ≤ 𝜃 < 0,
{ 𝑑𝜃
𝐴 (𝜇) 𝜙 = { 0
{
{
In the following, we will use the normal form method and {∫ 𝑑𝜂 (𝜃, 𝜇) 𝜙 (𝜃) , 𝜃 = 0,
{ −1 (40)
center manifold theorem introduced by Hassard et al. [19] to
determine the property of the bifurcated periodic solutions of
the controlled system (21) at 𝜏0 . 0, −1 ≤ 𝜃 < 0,
𝑅 (𝜇) 𝜙 = {
Let 𝜏 = 𝜏0 + 𝜇, 𝜇 ∈ 𝑅. Then 𝜇 = 0 is the Hopf bifurcation 𝐹 (𝜇, 𝜙) , 𝜃 = 0.
value of the controlled system (21). Rescaling the time 𝑡 →
𝑡/𝜏, then system (21) can be written as Then system (21) can be transformed into the following
operator equation:
𝑢̇ (𝑡) = 𝐿 𝜇 𝑢𝑡 + 𝐹 (𝜇, 𝑢𝑡 ) , (35)
𝑢̇ (𝑡) = 𝐴 (𝜇) 𝑢𝑡 + 𝑅 (𝜇) 𝑢𝑡 . (41)
where 𝑢(𝑡) = (𝑆(𝑡), 𝐼(𝑡), 𝑦(𝑡))𝑇 ∈ 𝐶([−1, 0], 𝑅+3 ) and 𝐿 𝜇 and 𝐹
are given respectively by The adjoint operator 𝐴∗ of 𝐴(0) is defined by
𝑑𝜑 (𝑠)
𝐿 𝜇 𝜙 = (𝜏0 + 𝜇) (𝐴 𝜙 (0) + 𝐵 𝜙 (−1)) , {
{ − , 0 < 𝑠 ≤ 1,
(36) 𝐴∗ (𝜑) = { 0 𝑑𝑠 (42)
{∫ 𝑑𝜂𝑇 0) 𝜑
𝐹 (𝜇, 𝜙) = (𝜏0 + 𝜇) (𝐹1 , 𝐹2 , 𝐹3 ) ,
𝑇 (𝜉, (−𝑠) , 𝑠 = 0,
{ −1
6 Abstract and Applied Analysis
and the bilinear inner product: + 𝑞∗3 (𝑐31 (𝑞(3) (0) 𝑞(3) (−1) + 𝑞(3) (0) 𝑞(3) (−1))
⟨𝜑 (𝑠) , 𝜙 (𝜃)⟩ = 𝜑 (0) 𝜙 (0) +𝑐32 (𝑞(2) (−1) 𝑞(3) (0)+𝑞(2) (−1) 𝑞(3) (0))
1 (3)
+ 𝑎26 (𝑞(3) (0) 𝑞(2) (0) + 𝑞(3) (0) 𝑞(2) (0))) + 𝑊20 (0) 𝑞(3) (−1)
2
Abstract and Applied Analysis 7
(3)
+ 𝑊11 (−1) 𝑞(3) (0) where 𝐸1 and 𝐸2 can be computed as the following equations,
respectively,
1 (3)
+ 𝑊20 (−1) 𝑞(3) (0))
2 −1
2𝑖𝜔0 − 𝑎11
−𝑎12 0
(2)
+ 𝑐32 (𝑊11 (−1) 𝑞(3) (0) 𝐸1 = 2(
−𝑎21 2𝑖𝜔0 − 𝑎22
−𝑎23 )
−2𝑖𝜏0 𝜔0 −2𝑖𝜏0 𝜔0
0 −𝑏32 𝑒 2𝑖𝜔0 − 𝑏33 𝑒
1 (2)
+ 𝑊20 (−1) 𝑞(3) (0)
2 𝐺11
(3) (2) × (𝐺21 ) ,
+ 𝑊11 (0) 𝑞 (−1)
𝐺31
1 (3)
+ 𝑊20 (0) 𝑞(2) (−1))
𝑎11
𝑎12 0
−1
2 𝐻11
(2) 𝐸2 = −(𝑎21 𝑎22 𝑎23 ) × (𝐻21 ) ,
+ 𝑐33 (2𝑊11 (−1) 𝑞(2) (−1) 𝐻31
0 𝑏32 𝑏33
(2) (2) (49)
+𝑊20 (−1) 𝑞 (−1))
(2)
+ 𝑐34 (𝑊11 (−1) 𝑞(3) (−1) with
+ 2𝑞(2) (−1) 𝑞(2) (−1) 𝑞(3) (0) ) + 𝑎26 (𝑞(3) (0) 𝑞(2) (0) + 𝑞(3) (0) 𝑞(2) (0)) ,
5 1
0.8
4
I(t)
0.6
S(t)
3
0.4
2 0.2
0 50 100 150 200 0 50 100 150 200
Time t Time t
(a) (b)
1.5
1 2
y(t)
y(t)
1
0.5
0
1
0 5
0 50 100 150 200 0.5 4
I(t) 3
Time t 0 2 S(t)
(c) (d)
Theorem 4. For system (21), when 𝜏 = 𝜏0 , the direction Further, we have 𝜔0 = 0.7284, 𝜏0 = 1.0877, and ℎ (𝑧0 ) =
of the Hopf bifurcation and stability of periodic solutions are 15.7784 > 0. That is, the transversality condition is satisfied.
determined by the formulas (51), and the following results hold. By Theorem 3, we can get that the positive equilibrium
𝐸∗ (3.4102, 0.4537, 0.9537) is locally asymptotically stable for
The Hopf bifurcation is supercritical (subcritical) if 𝛿 > 𝜏 ∈ [0, 1.0877), which can be seen from Figure 1, and
0 (𝛿 < 0); the bifurcating periodic solutions are stable 𝐸∗ (3.4102, 0.4537, 0.9537) is unstable when 𝜏 > 𝜏0 . This
(unstable) if 𝜎 < 0 (𝜎 > 0); the period of the bifurcating property can be illustrated by Figure 2.
periodic solution increases (decreases) if 𝑇 > 0 (𝑇 < 0). Next, we choose 𝛼 = 0.5, 𝛾 = 0.3, and 𝛾2 = 0.2 to control
the Hopf bifurcation, and we get a particular case of system
4. Numerical Simulation Examples (21):
5 1
0.8
4
I(t)
0.6
S(t)
3
0.4
2 0.2
0 50 100 150 200 0 50 100 150 200
Time t Time t
(a) (b)
2
1.5
2
y(t)
y(t)
1
0.5
0
1
0 5
0 50 100 150 200 0.5 4
I(t) 3
Time t 0 2 S(t)
(c) (d)
4.5 0.5
4 0.4
I(t)
S(t)
3.5 0.3
3 0.2
2.5 0.1
0 50 100 150 200 0 50 100 150 200
Time t Time t
(a) (b)
2
1.5
2
1
y(t)
y(t)
1
0.5
0
0.4
0 5
0 50 100 150 200 0.2 4
I(t) 3
Time t 0 2 S(t)
(c) (d)
4.5 0.4
4 0.3
I(t)
0.2
S(t)
3.5
3 0.1
2.5 0
0 50 100 150 200 0 50 100 150 200
Time t Time t
(a) (b)
2
1.5
2
1
y(t)
y(t)
1
0.5
0
0.4
0 5
0 50 100 150 200 0.2 4
I(t) 3
Time t 0 2 S(t)
(c) (d)
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