Function Vector Synchronization Based On Fuzzy
Control For Uncertain Chaotic Systems
With Dead-Zone Nonlinearities
Sarah Hamel
LAJ Laboratory, University of Jijel, BP. 98, Ouled-Aissa,
Jijel, Algeria
m.sarahamel@gmail.com
Abstract—In this paper, a fuzzy adaptive control scheme is
designed to achieve a function vector synchronization behavior
between two chaotic (or hyperchaotic) systems in presence of
unknown dynamic disturbances and input nonlinearities. This
synchronization can be considered as a generalization of many
existing projective synchronization (namely the function
projective synchronization, the modified projective
synchronization, generalized projective synchronization and so
on) in the sense that the master and slave outputs are assumed to
be some general function vectors. To practically deal with the
input nonlinearities, the adaptive fuzzy control system is designed
in a variable-structure framework. A Lyapunov approach is
employed to prove the boundedness of all signals of the closed-
loop system as well as the exponential convergence of the
synchronization errors to an adjustable region. The
synchronization between Lorenz and Chen chaotic systems is
taken as an illustrative example to show the effectiveness of the
proposed method.
Keywords—function vector synchronization; fuzzy control;
non-affine chaotic system; Lyapunov stability; input nonlinearities.
I. INTRODUCTION
Chaotic synchronization has become the subject of several
researchers in various fields [1,2]. Up to now, many types of
synchronization have been reported for chaotic systems such
as complete synchronization (CS) [3], Anti-synchronization
(AS) [4,5], lag synchronization (LS) [6], generalized
synchronization (GS) [7], projective synchronization (PS)
[8,9], and so on. In PS, the drive and response vectors evolve
in a proportional scale. When the response of the synchronized
dynamical states synchronize up to a constant scaling matrix,
the PS becomes the modified projective synchronization
(MPS) [10,11]. In the recent years, a new kind of PS called
function projective synchronization (FPS) has been proposed
in [12-15], where the drive and response systems can
synchronized up to a desired scaling function. In [16], a
generalized function projective synchronization (GFPS)
between two chaotic systems has been studied, while the
responses of dynamical states can be synchronized up to a
function matrix.
Abdesselem Boulkroune
LAJ Laboratory, University of Jijel, BP. 98, Ouled-Aissa,
Jijel, Algeria
boulkroune2002@yahoo.fr
To solve the problem of model uncertainties of the chaotic
systems, some adaptive fuzzy control systems have been
incorporated in the synchronization schemes [17-19], based on
the universal approximation theorem [20]. It is noted that
most existing works were developed for the affine chaotic
systems in which the control input appears linearly in the state
equation [17-19]. When the control input appears in
a nonlinear fashion, the control design becomes more
complicated. For non-affine systems, some controllers have
been proposed like [21,22]. On the other hand, the dead-zone
as one of the ubiquitous non-smooth nonlinear constraints of
the control input should be taken in account in the controller
design. If the dead-zone nonlinearity is ignored when
designing the controller (as in [21-23]), the control
performances of the closed-loop are not guaranteed and can be
even degraded, and the instability may occur. There are
extensive studies on chaotic systems with dead-zone in the
input channel in the literature [24, 25]. However, most
existing results dealing with dead-zone nonlinearities were
only considered for the uncertain affine chaotic. Note that the
extension of these control and synchronization approaches
[24,25] to non-affine chaotic systems is not generally easy. To
the best of our knowledge, in the literature, there are already
not results reported on the design of the control as well as
control-based synchronization systems for uncertain non-
affine chaotic systems with dead-zone nonlinearities.
Recently, an adaptive fuzzy variable-structure control has
been designed in [26] to achieve a function vector
synchronization for affine chaotic systems with dead-zone
nonlinearities. However, this work already suffers from the
following limitations: 1) Disturbances considered do not
depend on the states. 2) The controller designed suffers from
the well-known algebraic loop problem. 3) The slave system
considered is affine in control.
Inspired by the above discussion, in this paper, we propose
a new approach for function vector synchronization of a class
of uncertain non-affine chaotic systems subject to dynamic
nonlinear disturbances and input nonlinearities using a suitable
fuzzy adaptive variable-structure control approach. This
synchronization scheme can be considered as a generalization
of many existing projective synchronization systems (namely
 ‫כ‬
FPS, MPS, GFPS and so on) in the sense that the master and ሺ‫ݑ‬௜ ൅ ‫ݑ‬௜ି ሻ߮௜ ሺ‫ݑ‬௜ ሻ  ൒ ݉௜ି ሺ‫ݑ‬௜ ൅ ‫ݑ‬௜ି ሻଶ ǡ‫ݑ‬௜ ൏ െ‫ݑ‬௜ି ǡ (4)
slave outputs are assumed to be some general function vectors. ‫כ‬ ‫כ‬
Comparing to the existing works [3-16, 21, 26], the main where ݉௜ା and ݉௜ି are strictly positive constants which are
contributions of this paper lie in the following: generally called gain reduction tolerances [27].
1) Compared to [3-16,21], a novel function vector Assumption 1: Functions ߮௜ା ሺ‫ݑ‬௜ ሻ and ߮௜ି ሺ‫ݑ‬௜ ሻ and the
synchronization scheme based a suitable fuzzy adaptive ‫כ‬ ‫כ‬
constants ݉௜ା and ݉௜ି are unknown. But, the constants ‫ݑ‬௜ା
variable-structure control is designed a class of uncertain non-
affine chaotic systems subject to dynamic disturbances and and ‫ݑ‬௜ି are known and strictly positive.
input nonlinearities. According to the proposed definition to
synchronization errors, this synchronization scheme can be Remark.1: Unlike in [26,27], the so-called gain reduction
‫כ‬ ‫כ‬
seen as a generalization of many existing synchronization tolerances ݉௜ା and ݉௜ି are assumed here to be unknown.
systems (namely PS, CS, FPS, MPS, GFPS and so on).
Objective: Our aim is to design an adaptive fuzzy variable-
2) Compared to [3-16, 26], the class of uncertain non- structure law ‫ݑ‬, such that a function vector projective
affine chaotic systems considered in this paper is relatively
synchronization between the master system (1) and the slave
large, as the slave systems are considered to be non-affine,
one (2) is properly and practically realized, and all involved
with dynamic unknown disturbances, and with dead-zone in
the input channel. To the our best knowledge, such a class of signals in the closed loop system remain bounded.
chaotic slave systems with all these features has not been
considered in the literature. Consider the synchronization error vector as follows:
‫ ܧ‬ൌ ‫ܣ‬ሺ‫ݔ‬ሻ െ ‫ܤ‬ሺ‫ݕ‬ሻ (5)
3) Unlike in [26], our proposed synchronization scheme
has the following intrinsic features: where ‫ܣ‬ሺ‫ݔ‬ሻ and ‫ܤ‬ሺ‫ݕ‬ሻ are some continuous function vectors.
• The master-slave system is subject to state-depending Then, from (1), (2) and (5), we obtain the synchronization
disturbances. error dynamics as:
డ஺ሺ௫ሻ డ஺ሺ௫ሻ డ஻ሺ௬ሻ
• In contrast to works in [26], the considered class of ‫ܧ‬ሶ ൌ ‫ܪ‬ଶ ሺ‫ݔ‬ǡ ‫ݒ‬ሻ ൅ ‫ ר‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ  െ ‫ܪ‬ଵ ሺ‫ݕ‬ሻ (6)
డ௫ డ௫ డ௬
chaotic systems is non-affine in control and relatively
Let us define a proportional-integral (PI) sliding surface as
large.
follows:
• Our controller is free of the algebraic loop problem ௧ ௧
ܵ ൌ ‫ ܧ‬൅ ‫ܥ‬ଵ ‫׬‬଴ ‫ܧ‬ሺ߬ሻ݀ ߬ ൅ ‫ܥ‬ଶ ‫׬‬଴ ݄ܶܽ݊ሺ‫ܧ‬ሺ߬ሻȀߝሻ݀ ߬ (7)
and rigorously derived in mathematics.
where ‫ܥ‬ଵ and ‫ܥ‬ଶ are positive definite diagonal matrices
defined respectively as: ‫ܥ‬ଵ ൌ ݀݅ܽ݃ሺ‫ܥ‬ଵଵ ǡ ǥ ǡ ‫ܥ‬ଵ௡ ሻ and ‫ܥ‬ଶ ൌ
݀݅ܽ݃ሺ‫ܥ‬ଶଵ ǡ ǥ ǡ ‫ܥ‬ଶ௡ ሻ.ߝis a small strictly positive constant.
II. PROBLEM FORMULATION
The uncertain chaotic master-slave systems considered in The dynamics of ܵ are
this paper are given by: డ஺ሺ௫ሻ డ஺ሺ௫ሻ
ܵሶ ൌ ‫ܪ‬ଶ ሺ‫ݔ‬ǡ ‫ݒ‬ሻ ൅ ‫ܨ‬ଵ ሺ‫ݔ‬ǡ ‫ݕ‬ሻ ൅ ‫ ר‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ (8)
డ௫ డ௫
‫ݕ‬ሶ ൌ ‫ܪ‬ଵ ሺ‫ݕ‬ሻ (1) డ஻ሺ௬ሻ
with ‫ܨ‬ଵ ሺ‫ݔ‬ǡ ‫ݕ‬ሻ ൌ െ ‫ܪ‬ଵ ሺ‫ݕ‬ሻ ൅ ‫ܥ‬ଵ ‫ ܧ‬൅ ‫ܥ‬ଶ ݄ܶܽ݊ሺ‫ܧ‬ȀߝሻǤ
డ௬
‫ݔ‬ሶ ൌ ‫ܪ‬ଶ ሺ‫ݔ‬ǡ ‫ݒ‬ሻ ൅‫ ר‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ (2)
where ‫ ݕ‬ൌ ሾ‫ݕ‬ଵ ǡ ǥ ǡ ‫ݕ‬௡ ሿ்  ‫ܴ א‬௡ and‫ ݔ‬ൌ ሾ‫ݔ‬ଵ ǡ ǥ Ǥ ǡ ‫ݔ‬௡ ሿ் ‫ܴ א‬௡ Assumption.2:
are the overall state vectors of the master and slave systems, డு ሺ௑ǡ௩ሻ
a) The matrix మ is non-singular
respectively, which are assumed to be measurable. ‫ܪ‬ଵ ሺܻሻ ൌ డ௩
డ஺ሺ௫ሻ
ሾ݄ଵଵ ሺܻሻ,ǥ ǡ ݄ଵ௡ ሺܻሻሿ ‫ܴ א‬௡ and‫ܪ‬ଶ ሺ‫ݔ‬ǡ ‫ݒ‬ሻ ൌ ሾ݄ଶଵ ሺ‫ݔ‬ǡ ‫ݒ‬ሻǡ ǥǡ b) The matrix
డ௫
is non-singular
݄ଶ௡ ሺ‫ݔ‬ǡ ‫ݒ‬ሻሿ ‫ܴ א‬௡  are vectors of smooth unknown nonlinear డ஺ሺ௫ሻ డுమ ሺ௑ǡ௩ሻ
c) The matrix   has non-zero leading principal
functions,‫ ר‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ ൌ ሾ‫ר‬ଵ ሺ‫ݔ‬ǡ ‫ݐ‬ሻ ,ǥ ǡ‫ר‬௡ ሺ‫ݔ‬ǡ ‫ݐ‬ሻሿ is the unknown డ௫ డ௩
disturbance vector and ‫ ݒ‬ൌ ߮ሺ‫ݑ‬ሻ ൌ ሾ߮ଵ ሺ‫ݑ‬ଵ ሻǡ ǥ ǡ ߮௡ ሺ‫ݑ‬௡ ሻሿ்  is minors and their signs are known.
the vector of input nonlinearities.
Remark.2: Assumption 2a can be considered as a
These input nonlinearities are considered, here, as dead-zones controllability condition. This assumption is not restrictive as
with sector nonlinearities [27]: it is satisfied by many (affine or nonaffine) physical systems:
߮௜ା ሺ‫ݑ‬௜ ሻሺ‫ݑ‬௜ െ ‫ݑ‬௜ା ሻǡ‫ݑ‬௜ ൐ ‫ݑ‬௜ା e.g. robotic systems, electric machine and chaotic systems.
߮௜ ሺ‫ݑ‬௜ ሻ ൌ ቐ Ͳǡ െ ‫ݑ‬௜ି ൑ ‫ݑ‬௜ ൑ ‫ݑ‬௜ା (3) Similar assumptions have been made in [21-23].
߮௜ି ሺ‫ݑ‬௜ ሻሺ‫ݑ‬௜ ൅ ‫ݑ‬௜ି ሻǡ‫ݑ‬௜ ൏ െ‫ݑ‬௜ି Remark.3: Assumption 2b is also not restrictive, it ensures
the invertibility of ‫ܣ߲ ݔ݅ݎݐ݄ܽ݉݁ݐ‬ሺ‫ݔ‬ሻΤ߲‫ ݔ‬involved in the
where ߮௜ା ሺ‫ݑ‬௜ ሻ ൐ Ͳ and ߮௜ି ሺ‫ݑ‬௜ ሻ ൐ Ͳ are nonlinear functions control design. In general, it is implicitly considered (for
of ‫ݑ‬௜ , and ‫ݑ‬௜ା ൐ Ͳ and ‫ݑ‬௜ି ൐ Ͳ.The nonlinearity ߮௜ ሺ‫ݑ‬௜ ሻ controllability purposes) in the literatures dealing with
satisfies the following properties: function projective synchronization [26, 12-16].
‫כ‬
ሺ‫ݑ‬௜ െ ‫ݑ‬௜ା ሻ߮௜ ሺ‫ݑ‬௜ ሻ  ൒ ݉௜ା ሺ‫ݑ‬௜ െ ‫ݑ‬௜ା ሻଶ ǡ‫ݑ‬௜ ൐ ‫ݑ‬௜ା
Remark.4: Assumption 2c is required to apply Lemma 1 given
below and not restrictive as it is satisfied by many physical
systems, for more details see [21-23].
According to Taylor series expansion, the nonaffine model (8)
can be approximated as an affine model around an unknown
optimal control ൌ ‫ כ ݒ‬ሺ‫ݔ‬ሻ , as follows:
III. DESIGN OF THE FUZZY ADAPTIVE CONTROLLER
Multiply the equation (12) by ‫ܩ‬௔௦ ିଵ ሺܺሻ
and posing ܵҧ ൌ
‫ܦ‬௔ିଵ ܵ (or ܵ௜ҧ ൌ ݀௔௜௜ ܵ௜ , recall that ‫ܦ‬௔ିଵ ൌ ‫ܦ‬௔் ൌ ‫ܦ‬௔ and
݀௔௜௜ ൌ ൅ͳ‘” െ ͳ), we obtain
‫ܩ‬ଵ ሺ‫ݔ‬ሻܵሶ ҧ ൌ ‫ܨ‬ଷ ሺ‫ݔ‬ǡ ‫ݕ‬ǡ ‫ݑ‬ሻ ൅ ߮ሺ‫ݑ‬ሻ ൅ ܴሺ‫ݔ‬ǡ ‫ݑ‬ǡ ‫ݐ‬ሻ (14)

‫ܪ‬ଶ ሺ‫ݔ‬ǡ ‫ݒ‬ሻ ൌ ‫ܨ‬ሺ‫ݔ‬ሻ ൅ ‫ܩ‬ሺ‫ݔ‬ሻ‫ ݒ‬൅ ‫ܱܶܪ‬ሺ‫ݔ‬ǡ ‫ݒ‬ሻ (9) where ‫ܩ‬ଵ ሺ‫ݔ‬ሻ ൌ ‫ܦ‬௔ିଵ ‫ܩ‬௔௦ ିଵ
ሺ‫ݔ‬ሻ‫ܦ‬௔ ,
డு ሺ௫ǡ௩ሻ ‫ܨ‬ଷ ሺ‫ݔ‬ǡ ‫ݕ‬ǡ ‫ݑ‬ሻ ൌ ‫ܦ‬௔ିଵ ‫ܩ‬௔௦
ିଵ ሺ‫ݔ‬ሻ‫ ܨ‬ሺ‫ݔ‬ǡ
ଶ ‫ݕ‬ሻ ൅ ሾܶ௔ ሺ‫ݔ‬ሻ െ ‫ܫ‬௡ ሿ߮ሺ‫ݑ‬ሻ,
where ‫ܨ‬ሺ‫ݔ‬ሻ ൌ ‫ܪ‬ଶ ሺ‫ݔ‬ǡ ‫ כ ݒ‬ሺܺሻሻ െ ቂ మ ቃ ‫ כ ݒ כ‬ሺ‫ݔ‬ሻǡ ିଵ ିଵ ሺ‫ݔ‬ሻ డ஺ሺ௫ሻ
డ௩ ௩ୀ௩ ሺ௫ሻ and ܴሺ‫ݔ‬ǡ ‫ݑ‬ǡ ‫ݐ‬ሻ ൌ ‫ܦ‬௔ ‫ܩ‬௔௦ ‫ܱܶܪ‬ሺ‫ݔ‬ǡ ‫ݒ‬ሻ ൅
డுమ ሺ௫ǡ௩ሻ డ௫
and ‫ܩ‬ሺ‫ݔ‬ሻ ൌ ൣ݃௜௝ ሺ‫ݔ‬ሻ൧ ൌ ቂ ቃ డ஺ሺ௫ሻ
‫ܦ‬௔ିଵ ‫ܩ‬௔௦
ିଵ
ሺ‫ݔ‬ሻ ‫ ר‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ.
డ௩ ௩ୀ௩ ‫ כ‬ሺ௫ሻ డ௫
where ‫ܱܶܪ‬ሺ‫ݔ‬ǡ ‫ݒ‬ሻ is the higher order terms (HOT) of this According to properties of ‫ܦ‬௔ and‫ܩ‬௔௦ ሺ‫ݔ‬ሻ, we can show that
expansion, and ‫ ݒ‬ൌ ‫ כ ݒ‬ሺ‫ݔ‬ሻ is an uncertain function minimizing the matrix ‫ܩ‬ଵ ሺ‫ݔ‬ሻ is also symmetric and positive-definite.
the HOT. The dynamics (14) can be rearranged as follows

Substituting (9) into (8), we have ଵ

‫ܩ‬ሶଵ ሺ‫ݔ‬ሻܵҧ ൅ ‫ܩ‬ଵ ሺ‫ݔ‬ሻܵሶ ҧ ൌ ߙሺ‫ݖ‬ሻ ൅ ߮ሺ‫ݑ‬ሻ ൅ ‫ܩ‬ሶଵ ሺ‫ݔ‬ሻܵҧ െ ݃ҧ ሺ‫ݔ‬ሻܵҧ+
ଵ
߲‫ܣ‬ሺ‫ݔ‬ሻ ߲‫ܣ‬ሺ‫ݔ‬ሻ ଶ ଶ
ܵሶ ൌ  ‫ܩ‬ሺ‫ݔ‬ሻ‫ ݒ‬൅ ‫ܨ‬ଶ ሺ‫ݔ‬ǡ ‫ݕ‬ሻ ൅  ‫ܱܶܪ‬ሺ‫ݔ‬ǡ ‫ݒ‬ሻ ൅
߲‫ݔ‬ ߲‫ݔ‬ ܴሺ‫ݔ‬ǡ ‫ݑ‬ǡ ‫ݐ‬ሻ (15)
డ஺ሺ௫ሻ
‫ ר‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ (10)
డ௫
where ‫ܨ‬ଶ ሺ‫ݔ‬ǡ ‫ݕ‬ሻ ൌ
డ஺ሺ௫ሻ
‫ܨ‬ሺ‫ݔ‬ሻ ൅ ‫ܨ‬ଵ ሺ‫ݔ‬ǡ ‫ݕ‬ሻ. with ߙሺ‫ݖ‬ሻ ൌ ሾߙଵ ሺ‫ݖ‬ଵ ሻǡ ǥ ǡ ߙ௡ ሺ‫ݖ‬௡ ሻሿ் ൌ ݃ҧ ሺ‫ݔ‬ሻܵҧ ൅ ‫ܨ‬ଷ ሺ‫ݔ‬ǡ ‫ݕ‬ǡ ‫ݑ‬ሻ (16)
డ௫
డ஺ሺ௫ሻ where ‫ ݖ‬ൌ ሾ‫ݖ‬ଵ் ǡ ǥ ǡ ‫ݖ‬௡் ሿ் .
Since the matrix ‫ܩ‬ሺ‫ݔ‬ሻ is not necessarily symmetric, we
డ௫
should use the following important lemma [22,23]: Assumption 4: We assume that there exists an unknown
continuous positive function ߙത௜ ሺ‫ݖ‬௜ ሻ such that: ȁߙ௜ ሺ‫ݖ‬௜ ሻȁ ൑
డ஺ሺ௫ሻ ‫כ‬ ‫כ‬
Lemma1. Any real matrix ‫ܩ‬ሺ‫ݔ‬ሻ ‫ܴ א‬௡ൈ௡ having non-zero ߟߙത௜ ሺ‫ݖ‬௜ ሻǡ ‫ݖ׊‬௜ ‫ א‬ȳ௭೔ with ߟ ൌ ݉݅݊ሼ݉௜ା ǡ ݉௜ି ሽ for݅ ൌ ͳǡ ǥ ǡ ݊,
డ௫
leading principal minors can be decomposed as follows: where the vectors ‫ݖ‬௜ and their corresponding compact sets are
డ஺ሺ௫ሻ defined below.
‫ܩ‬ሺ‫ݔ‬ሻ ൌ ‫ܩ‬௔௦ ሺ‫ݔ‬ሻ‫ܦ‬௔ ܶ௔ ሺ‫ݔ‬ሻ (11)
డ௫
with ‫ܩ‬௔௦ ሺ‫ݔ‬ሻ ‫ܴ א‬௡ൈ௡ is a positive definite and symmetric As the state vector of the master system ‫ ݕ‬always evolves in a
matrix, ‫ܦ‬௔ ‫ܴ א‬௡ൈ௡ is a constant diagonal matrix with +1 or -1 compact set and the function vector ߙሺ‫ݖ‬ሻ is characterized by
on its diagonal, and ܶ௔ ሺ‫ݔ‬ሻ ‫ܴ א‬௡ൈ௡ is a unity upper triangular an “upper triangular control structure”, the vectors ‫ݖ‬௜ can be
matrix. simply determined as follows:
‫ݖ‬ଵ ൌ ሾ‫ ் ݔ‬ǡ ‫ݑ‬ଶ ǡ ǥ Ǥ ǡ ‫ݑ‬௡ ሿ்
Considering Lemma 1, we have ‫ݖ‬ଶ ൌ ሾ‫ ் ݔ‬ǡ ‫ݑ‬ଷ ǡ ǥ Ǥ ǡ ‫ݑ‬௡ ሿ்
డ஺ሺ௫ሻ
ܵሶ ൌ  ‫ܩ‬௔௦ ሺ‫ݔ‬ሻ‫ܦ‬௔ ܶ௔ ሺ‫ݔ‬ሻ‫ ݒ‬൅ ‫ܨ‬ଶ ሺ‫ݔ‬ǡ ‫ݕ‬ሻ ൅ ‫ܱܶܪ‬ሺ‫ݔ‬ǡ ‫ݒ‬ሻ ൅ ‫ڭ‬
డ௫
డ஺ሺ௫ሻ
‫ ר‬ሺ‫ݔ‬ǡ ‫ݐ‬ሻ (12) ‫ݖ‬௡ିଵ ൌ ሾ‫ ் ݔ‬ǡ ‫ݑ‬௡ ሿ்
డ௫
‫ݖ‬௡ ൌ ‫ݔ‬ (17)
Assumption.3: ‫ܩ‬௔௦ ሺ‫ݔ‬ሻis of class ‫ ܥ‬ଵ and satisfies the
following property: Define the corresponding operating compact sets as follows:
ͳ ݀ሺ‫ܦ‬௔ିଵ ‫ܩ‬௔௦
ିଵ ሺ‫ݔ‬ሻ‫ܦ‬
௔ ሻ ͳ ߲ሺ‫ܦ‬௔ିଵ ‫ܩ‬௔௦
ିଵ ሺ‫ݔ‬ሻ‫ܦ‬
௔ ሻ ߗ௭೔ ൌ ሼሾ‫ ் ݔ‬ǡ ‫ݑ‬௜ାଵ ǡ ǥ ǡ ‫ݑ‬௡ ሿ் ȁ‫ߗ א ݔ‬௫ ‫ܴ ؿ‬௡ ǡ ‫ߗ א ݑ‬௨ ሽǡfor i=1,...,
ብ ብൌ ብ ‫ݔ‬ሶ ብ ൑ ݃ҧ ሺ‫ݔ‬ሻ
ʹ ݀‫ݐ‬ ʹ ߲‫ݔ‬ n-1 and ߗ௭೙ ൌ ሼ‫ݔ‬ȁ‫ߗ א ݔ‬௫ ‫ܴ ؿ‬௡ ሽ.
(13)
Each unknown nonlinear function ߙത௜ ሺ‫ݖ‬௜ ሻ can be approximated
where ݃ҧ ሺ‫ݔ‬ሻis an unknown positive function. on the compact set ȳ௭೔ , by using the linearly parameterized
fuzzy system in [22,23], as follows
Remark.5: Assumption 3 is a mild assumption. In many chaos
synchronization literatures, the matrix ‫ܦ‬௔ିଵ ‫ܩ‬௔௦ ିଵ ሺ‫ݔ‬ሻ‫ܦ‬
௔  is ߙത෡ప ሺ‫ݖ‬௜ ǡ ߠ௜ ሻ ൌ ߠ௜் ߰௜ ሺ‫ݖ‬௜ ሻ, with ݅ ൌ ͳǡ ǥ ǡ ݊ (18)
considered to be constant. It is should be noted that
Assumption 3 ensures that the time derivative of where ߰௜ ሺ‫ݖ‬௜ ሻ is FBF (Fuzzy Basis Function) vector, which is
‫ܦ‬௔ିଵ ‫ܩ‬௔௦
ିଵ ሺ‫ݔ‬ሻ‫ܦ‬
௔ depends only on the state vector x (i.e. it allows fixed a priori by the designer, and ߠ௜ is the adjustable
us to have a matrix ݀ሺ‫ܦ‬௔ିଵ ‫ܩ‬௔௦ ିଵ ሺ‫ݔ‬ሻ‫ ܦ‬ሻȀ݀‫ݐ‬
௔ which does not parameter vector of this fuzzy system.
depend on the system inputs). Let us define ߠ௜‫ כ‬ൌ ƒ”‰ ݉݅݊ ሾ‫݌ݑݏ‬ȁߙത௜ ሺ‫ݖ‬௜ ሻ െ ߙത෡ప ሺ‫ݖ‬௜ ǡ ߠ௜ ሻȁሿ as the
optimal value of ߠ௜ which is mainly introduced for analysis
purposes as its value is not needed when implementing the
controller.
Define ߠ෩ప ൌ ߠ௜ െ ߠ௜‫ כ‬and
ߝ௜ ሺ‫ݖ‬௜ ሻ ൌ ߙത௜ ሺ‫ݖ‬௜ ሻ െ ߙത෡ప ሺ‫ݖ‬௜ ǡ ߠ௜‫ כ‬ሻ ൌ ߙത௜ ሺ‫ݖ‬௜ ሻ െ ߠ௜‫߰ ்כ‬௜ ሺ‫ݖ‬௜ ሻ (19)
as the parameter estimation error and the fuzzy approximation
error, respectively.
As in [20-26], it is assumed that the used fuzzy system does not
violate the universal approximation property on the compact
set ȳ௭೔ , which is taken large enough so that the input vector of
those fuzzy systems remains in ȳ௭೔ under the closed-loop
Remark.6: Owing to special structure (i.e. an upper
triangular control structure) of the functions ߙ௜ ሺ‫ݖ‬௜ ሻ and
dynamic feature of the robust compensators ‫ݑ‬௥௜ , the proposed
controller is free of the so-called algebraic-loop.
Using Assumptions 4 and 5, (15) can be rewritten as follows
ௗ ଵ
ቂ ܵҧ ் ‫ܩ‬ଵ ሺܺሻܵҧቃ ൑ െ σ௡௜ୀଵȁܵ௜ҧ ȁ ቀ‫ݑ‬௥௜ ݄ܶܽ݊ሺ‫ݑ‬௥௜ Ȁߝ௧ ሻ ൅ ݇ଵ௜ ȁܵ௜ҧ ȁ ൅
ௗ௧ ଶఎ
௨
ߠ෨௜் ߰௜ ሺ‫ݖ‬௜ ሻቁ ൅ σ௡௜ୀଵȁܵ௜ҧ ȁ ቆ‫ݑ‬௥௜ ݄ܶܽ݊ ቀ ೝ೔ቁ ൅ ݇ଵ௜ ȁܵ௜ҧ ȁ ൅ ߠ௜் ߰௜ ሺ‫ݖ‬௜ ሻቇ ൅
ఌ೟
ଵ
 ܵҧ ் ߮ሺ‫ݑ‬ሻ ൅ ܴതሺ‫ݐ‬ǡ ‫ݔ‬ǡ ‫ݑ‬ሻߢ ‫ ்כ‬ȁܵҧȁ (28)
ఎ

control system. It is therefore reasonable to suppose that the

fuzzy approximation error is bounded for all ‫ݖ‬௜ ‫ א‬ȳ௭೔ , i.e : Theorem 1. Consider the master system (1) and the slave
system (2) subject to all the required modeling Assumptions 1–
ȁߝ௜ ሺ‫ݖ‬௜ ሻȁ ൑ ߝҧ௜ , ‫ݖ׊‬௜ ‫ א‬ȳ௭೔ , where ߝҧ௜ is an unknown positive
5. The proposed fuzzy adaptive variable structure controller,
constant. defined by (22)–(27), guarantees the following properties:
Now, let us denote a) The function vector synchronization between the systems
(1) and (2) is practically achieved, while ensuring that
ߙത෠ ሺ‫ݖ‬ǡ ߠሻ  ൌ ሾߙത෠ଵ ሺ‫ݖ‬ଵ ǡ ߠଵ ሻǡ ǥ ǡ ߙത෠௡ ሺ‫ݖ‬௡ ǡ ߠ௡ ሻሿ் all signals in the closed-loop system are semi-globally
ൌ ሾߠଵ் ߰ଵ ሺ‫ݖ‬ଵ ሻǡ ǥ ǡ ߠ௡் ߰௡ ሺ‫ݖ‬௡ ሻሿ் uniformly ultimately bounded (SGUUB).
ߝሺ‫ݖ‬ሻ ൌ ሾߝଵ ሺ‫ݖ‬ଵ ሻǡ ǥ ǡ ߝ௡ ሺ‫ݖ‬௡ ሻሿ் , b) The solution of the closed-loop error system exponentially
ߝҧሺ‫ݖ‬ሻ ൌ ሾߝҧଵ ǡ ǥ ǡ ߝҧ௡ ሿ் . converges to an adjustable region defined as:
Then, we have ଵൗ
ଶ
ଶగ
ߙത෠ ሺ‫ݖ‬ǡ ߠሻ െ ߙതሺ‫ݖ‬ሻ ൌ ߙത෠ ሺ‫ݖ‬ǡ ߠሻ െ ߙത෠ ሺ‫ݖ‬ǡ ߠ ‫ כ‬ሻ ൅ ߙത෠ ሺ‫ݖ‬ǡ ߠ ‫ כ‬ሻ െ ߙതሺ‫ݖ‬ሻ ȳௌ௜ ൌ ቊܵ௜ ȁȁܵ௜ ȁ ൑ ൬
ఙ೒భ ఓ
൰ ቋǤ (29)
ൌ ߙത෠ ሺ‫ݖ‬ǡ ߠሻ െ ߙത෠ ሺ‫ݖ‬ǡ ߠ ‫ כ‬ሻ െ ߝҧሺ‫ݖ‬ሻ
where ߨǡ ߤ and ߪ௚ଵ will be defined later.
ൌ ߠ෨ ் ߰ሺ‫ݖ‬ሻ െ ߝҧሺ‫ݖ‬ሻ (20)
෨ ෨ ் ሺ‫ݖ‬ ሻǡ ෨
where ߠ ߰ሺ‫ݖ‬ሻ ൌ ൣߠଵ ߰ଵ ଵ ǥ ǡ ߠ௡ ߰௡ ௡ and ߠప ൌ ߠ௜ െ ߠ௜‫ כ‬,
் ் ሺ‫ݖ‬ ሻ൧ ෩
Proof. Choose the following Lyapunov function:
for ݅ ൌ ͳǡ ǥ ǡ ݊ ଵ ଵ ଵ ଵ ଵ
ܸ ൌ ܵҧ ் ‫ܩ‬ଵ ሺ‫ݔ‬ሻܵҧ ൅ σ௡௜ୀଵ ߠ෨௜் ߠ෨௜ ൅ ߢǁ ் ߢǁ ൅ ߜଶ ൅
ଶఎ ଶ ఊഇ೔ ଶఊഉ ଶఊഃ
Assumption 5: We assume that [22,23]: ଵ
‫ݑ‬௥் ‫ݑ‬௥ (30)
ȁߝሺ‫ݖ‬ሻ ൅ ܴሺ‫ݐ‬ǡ ‫ݔ‬ǡ ‫ݑ‬ሻȁ ൑ ߟܴതሺ‫ݐ‬ǡ ‫ݔ‬ǡ ‫ݑ‬ሻߢ ‫כ‬ (21) ଶఊೝ
‫כ‬
where ߢǁ ൌ ߢ െ ߢ Ǥ Differentiating (30), we have
with ܴത ሺ‫ݐ‬ǡ ‫ݔ‬ǡ ‫ݑ‬ሻ ൌ ͳ ൅ ԡ‫ݔ‬ԡ ൅ ԡ‫ݑ‬ԡ, where ߢ ‫ כ‬ൌ ሾߢଵ‫ כ‬ǡ ǥ ǡ ߢ௡‫ כ‬ሿ் is
ܸሶ ൌ ܵҧ ் ‫ܩ‬ଵ ሺ‫ݔ‬ሻܵሶ ҧ ൅ ܵҧ ் ‫ܩ‬ሶଵ ሺ‫ݔ‬ሻܵҧ ൅ σ௡௜ୀଵ ߠ෨௜் ߠሶ௜ ൅
ଵ ଵ ଵ ଵ
an unknown constant vector. ߢǁ ் ߢሶ ൅
ఎ ଶఎ ఊഇ೔ ఊഉ
ଵ ଵ ்
ߜߜሶ ൅ ‫ݑ‬௥ ‫ݑ‬ሶ ௥ (31)
To achieve our objective, we consider the following adaptive ఊഃ ఊೝ
fuzzy variable-structure controller:
െߩ௜ ሺ‫ݐ‬ሻ‫݊݃݅ݏ‬ሺܵ௜ҧ ሻ െ ‫ݑ‬௜ି ǡ ܵ௜ҧ ൐ Ͳ From (4) and (22), for ܵ௜ҧ ൐ Ͳ and ܵ௜ҧ ൏ Ͳ, we get [24]:
‫ݑ‬௜ ൌ ቐ Ͳǡܵ௜ҧ ൌ Ͳ (22) െߩ௜ ሺ‫ݐ‬ሻ‫݊݃݅ݏ‬ሺܵ௜ҧ ሻ߮௜ ሺ‫ݑ‬௜ ሻ ൒ ߟߩ௜ଶ ሺ‫ݐ‬ሻ (32)
ҧ
െߩ௜ ሺ‫ݐ‬ሻ‫݊݃݅ݏ‬ሺܵ௜ ሻ ൅ ‫ݑ‬௜ା ǡ ܵ௜ ൏ Ͳ ҧ
Using the fact that ܵ௜ҧ ‫݊݃݅ݏ‬ሺܵ௜ҧ ሻ ൌ ȁܵ௜ҧ ȁ, (32) can be rewritten as
ߩ௜ ሺ‫ݐ‬ሻ ൌ ‫ݑ‬௥௜ ݄ܶܽ݊ሺ‫ݑ‬௥௜ Ȁߝ௧ ሻ ൅ ݇ଵ௜ ȁܵ௜ҧ ȁ ൅ ߠ௜் ߰௜ ሺ‫ݖ‬௜ ሻ (23) ଶ ଶ
െߩ௜ ሺ‫ݐ‬ሻܵ௜ҧ ‫݊݃݅ݏ‬ሺܵ௜ҧ ሻ߮௜ ሺ‫ݑ‬௜ ሻ ൒ ߟߩ௜ଶ ሺ‫ݐ‬ሻܵ௜ҧ ൌ ߟߩ௜ଶ ሺ‫ݐ‬ሻȁܵ௜ҧ ȁଶ
ߠሶ௜ ሺ‫ݐ‬ሻ ൌ െߛఏ௜ ߪఏ௜ ߠ௜ ൅ ߛఏ௜ ȁܵ௜ҧ ȁ߰௜ ሺ‫ݖ‬௜ ሻǡ ‫ߠ݄ݐ݅ݓ‬௜ ሺͲሻ ൐ Ͳ (24)
(33)
Finally, becauseߩ௜ ሺ‫ݐ‬ሻ ൐ Ͳ, for all ܵ௜ҧ we have
where ߛఏ௜ ǡ ߪఏ௜ and ݇ଵ௜  ൐ Ͳ for ݅ ൌ ͳǡ ǥ ǡ ݊, are free positive
design constants, and ‫ݑ‬௥ ൌ ሾ‫ݑ‬௥ଵ ǡ ǥ ǡ ‫ݑ‬௥௡ ሿ is an adaptive ܵ௜ҧ ߮௜ ሺ‫ݑ‬௜ ሻ ൑ െߟߩ௜ ሺ‫ݐ‬ሻȁܵ௜ҧ ȁ (34)
dynamic control term given by:
்௔௡௛ሺ௨ೝ Ȁఌ೟ ሻ By considering (23)–(28), the time derivative of Lyapunov
‫ݑ‬ሶ ௥ ൌ െߛ௥ ‫ݑ‬௥ ൅ ߛ௥ ቂܵ௨௥ ȁܵҧȁ െ ೅ ത ሺ‫ݐ‬ǡ ‫ݔ‬ǡ ‫ݑ‬ሻߢ ் ȁܵҧȁቃ
మܴ function can be bounded as
௨ೝ ்௔௡௛ሺ௨ೝ Ȁఌ೟ ሻାఋ
(25) ܸሶ ൑ െ σ௡௜ୀଵ ‫ݑ‬௥௜ ଶ
െ σ௡௜ୀଵ ݇ଵ௜ ܵ௜ҧ ଶ െ σ௡௜ୀଵ ߪఏ௜ ߠ෨௜் ߠ௜ െ ߪ఑ ߢǁ ் ߢ െ
ఋ ଶ
ߜሶ ൌ െߛఋ ߪఋ ߜ െ ߛఋ ܴത ሺ‫ݐ‬ǡ ‫ݔ‬ǡ ‫ݑ‬ሻߢ ் ȁܵҧȁ
(26) ߪఋ ߜ (35)
௨ೝ೅ ்௔௡௛ሺ௨ೝȀఌ೟ ሻାఋ మ
ߢሶ ൌ െߛ఑ ߪ఑ ߢ ൅ ߛ఑ ܴത ሺ‫ݐ‬ǡ ‫ݔ‬ǡ ‫ݑ‬ሻȁܵҧȁǡ ߢ௜ ሺͲሻ ൒ Ͳ (27) On the other hand, we can established that
where ܵ௨௥ ൌ ݀݅ܽ݃ሾ݄ܶܽ݊ሺ‫ݑ‬௥ଵ Ȁߝ௧ ሻǡ ǥ ǡ ݄ܶܽ݊ሺ‫ݑ‬௥ Ȁߝ௧ ሻሿǡ ߢ ൌ ఙ ఙ
െߪ఑ ߢǁ ் ߢ ൑ െ ഉ ԡߢǁ ԡଶ ൅ ഉ ԡߢ ‫ כ‬ԡଶ  (36)
ሾߢଵ ǡ ǥ ǡ ߢ௡ ሿ் is the estimate of ߢ ‫ כ‬Ǥ ߛ఑ , ߛఋ , and ߛ௥ are strictly ଶ
ఙഇ ଶ
ଶ
ఙഇ
positive design constants. ߪ఑ , ߪఋ and ߝ௧ are small strictly െߪఏ೔ ߠ෨௜் ߠ௜ ൑ െ ೔
ฮߠ෨௜ ฮ ൅ ೔
ԡߠ௜‫ כ‬ԡଶ (37)
ଶ ଶ
positive design constants.
By employing inequalities (36) and (37), (35) implies
ܸሶ ൑ The input nonlinearities ߮௜ ሺ‫ݑ‬௜ ሻ for ݅ ൌ ͳǡʹǡ͵ are selected as:
ఙ ଶ ఙ ሺ‫ݑ‬௜ െ ͵ሻሺͳ െ ͲǤ͵ •‹ሺ‫ݑ‬௜ ሻሻǡ‫ݑ‬௜ ൐ ͵
െ σ௡௜ୀଵ ‫ݑ‬௥௜
ଶ
െ σ௡௜ୀଵ ݇ଵ௜ ܵ௜ҧ ଶ െ σ௡௜ୀଵ ഇ೔ ฮߠ෨௜ ฮ ൅ σ௡௜ୀଵ ഇ೔ ԡߠ௜‫ כ‬ԡଶ െ
ଶ ଶ ߮௜ ሺ‫ݑ‬௜ ሻ ൌ ቐ Ͳǡ െ ͵ ൑ ‫ݑ‬௜ ൑ ͵ (46)
ఙഉ ఙഉ
ԡߢǁ ԡଶ ൅ ԡߢ ‫ כ‬ԡଶ െ ߪఋ ߜ ଶ (38) ሺ‫ݑ‬௜ ൅ ͵ሻሺͲǤͺ െ ͲǤ͵ …‘•ሺ‫ݑ‬௜ ሻሻǡ‫ݑ‬௜ ൏ െ͵
ଶ ଶ
The external disturbances are taken as follows:‫ר‬ଵ ሺ‫ݔ‬ǡ ‫ݐ‬ሻ ൌ
According to properties of ‫ܩ‬௔௦ ሺ‫ݔ‬ሻ, there exists a positive ͲǤͷ‫ݔ‬ଵ , ‫ר‬ଶ ሺ‫ݔ‬ǡ ‫ݐ‬ሻ ൌ ‫ݔ‬ଵ ൅ ͲǤͳ‫ݔ‬ଶଶ  and ‫ר‬ଷ ሺ‫ݔ‬ǡ ‫ݐ‬ሻ ൌ ‫ݔ‬ଵ ൅ ͲǤͷ‫ݔ‬ଷଷ ൅
scalar ߪ௚௦ such as ‫ܩ‬௔௦ ሺ‫ݔ‬ሻ ൒ ߪ௚௦ ‫ܫ‬௡ , thus •‹ሺ‫ݐ‬ሻ.
ଵ
ܵҧ ் ‫ܩ‬ଵ ሺ‫ݔ‬ሻܵҧ ൌ ܵ ் ‫ܩ‬௦ିଵ ܵ ൑ ԡܵҧԡଶ (39)
ఙ೒ೞ
Three fuzzy adaptive systems have been designed to online
And from (38) and (39), we obtain
estimate the uncertainties. The first fuzzy system ߠଵ் ߰ଵ ሺ‫ݖ‬ଵ ሻ
ܸሶ ൑ െߤܸ ൅ ߨ (40) has the vector ‫ݖ‬ଵ ൌ ሾ‫ ் ݔ‬ǡ ‫ݑ‬ଶ ǡ ‫ݑ‬ଷ ሿ் as input, the second fuzzy
ఙഇ ఙ
with ߨ ൌ σ௡௜ୀଵ ೔ ԡߠ௜‫ כ‬ԡଶ ൅ ഉ ԡߢ ‫ כ‬ԡଶ , and system ߠଶ் ߰ଶ ሺ‫ݖ‬ଶ ሻ has ‫ݖ‬ଶ ൌ ሾ‫ ் ݔ‬ǡ ‫ݑ‬ଷ ሿ் as input, but the third one
ଶ ଶ

{
μ = min min {2ησ gs k1i } , min {γ θ iσ θ i } , 2γ δ σ δ , 2γ r , γ k σ k
i i
} ߠଷ் ߰ଷ ሺ‫ݖ‬ଷ ሻ has the state vector ‫ݖ‬ଷ ൌ ‫ ݔ‬as input.

The initial conditions of master-slave systems and the

Multiplying (40) by ݁ ఓ௧ , we get adaptation laws are respectively selected as: ܻሺͲሻ ൌ ሾͳǡͳǡͳሿ,
ௗ൫௏௘ ഋ೟ ൯ ܺሺͲሻ ൌ ሾͳͲǡͺǡͳʹሿ, ‫ݑ‬௥ଵ ሺͲሻ ൌ ‫ݑ‬௥ଶ ሺͲሻ ൌ ‫ݑ‬௥ଷ ሺͲሻ ൌ ͷ, ߜሺͲሻ ൌ ʹ,
൑ ߨ݁ ఓ௧ (41) ߢଵ ሺͲሻ ൌ ߢଶ ሺͲሻ ൌ ߢଷ ሺͲሻ ൌ ͳͲ and ߠଵೕ ሺͲሻ ൌ ߠଶೕ ሺͲሻ ൌ
ௗ௧
And integrating (41) over ሾͲǡ ‫ݐ‬ሿ, we have ߠଷೕ ሺͲሻ ൌ ͲǤͲͲͳfor ݆=1,...,݉ǡwhere ݉ is the number of the
గ గ
Ͳ ൑ ܸሺ‫ݐ‬ሻ ൑ ൅ ቀܸሺͲሻ െ ቁ ݁ ିఓ௧ (42) fuzzy rules.
ఓ ఓ

Therefore, all signals in the closed-loop control system (i.e. The design parameters are chosen as:ߛఏభ ൌ ߛఏమ ൌ ߛఏయ ൌ
ܵ௜ ǡ ‫ݔ‬ǡ ‫ݑ‬௥ ǡ ߜǡ ߠ෨௜ , and ݇෨) are SUUB and the control ‫ݑ‬௜ is hence ͵ͲͲ,ߪఏଵ ൌ ߪఏଶ ൌ ߪఏଷ ൌ ͳͲିଷ , ߛ௥ ൌ ͷͲͲǡ ߛ఑ ൌ ͳͲ,ߪఋ ൌ
bounded. ͳͲି଻ ,ߛఋ ൌ ͳͲିହ , and ߪ఑ ൌ ͲǤͲͲʹ.

Because the matrix ‫ܩ‬ଵ ሺ‫ݔ‬ሻ is also symmetric and positive We have considered two cases:
definite, there exists an unknown positive constant ߪ௚ଵ such Case 1 (Projective synchronization) : ܾଵ ሺ‫ݕ‬ሻ ൌ ͵‫ݕ‬ଵ ǡ ܾଶ ሺ‫ݕ‬ሻ ൌ
that:‫ܩ‬ଵ ሺ‫ݔ‬ሻ ൒ ߪ௚ଵ ‫ܫ‬௡ . Then, the following inequality results: ͵‫ݕ‬ଶ ǡ ܾଷ ሺ‫ݕ‬ሻ ൌ ͵‫ݕ‬ଷ , and ܽଵ ሺ‫ݔ‬ሻ ൌ ‫ݔ‬ଵ ǡ ܽଶ ሺ‫ݔ‬ሻ ൌ ‫ݔ‬ଶ ǡ ܽଷ ሺ‫ݔ‬ሻ ൌ
ଵൗ
ଶ ‫ݔ‬ଷ . The obtained results for this projective synchronization are
ଶ గ గ
ȁܵ௜ҧ ȁ ൌ ȁܵ௜ ȁ ൑ ቆ ቀ ൅ ቀܸሺͲሻ െ ቁ ݁ ିఓ௧
ቁቇ (43) depicted in Figure (1).
ఙ೒భ ఓ ఓ

i.e. the solution of ܵ௜ exponentially converges to a bounded Case 2 (GFP synchronization) :ܾଵ ሺ‫ݕ‬ሻ ൌ ͲǤͷ‫ݕ‬ଵଶ ǡ ܾଶ ሺ‫ݕ‬ሻ ൌ
ͲǤͳ‫ݕ‬ଶଶ ൅ ‫ݕ‬ଵ ‫ݕ‬ଶ , ܾଷ ሺ‫ݕ‬ሻ ൌ ‫݊݅ݏ‬ሺ‫ݕ‬ଷ ሻ ൅ ‫ݕ‬ଶ ‫ݕ‬ଷ , and ܽଵ ሺ‫ݔ‬ሻ ൌ
adjustable domain defined as follows: ȳௌ௜ ൌ ቊܵ௜ ȁȁܵ௜ ȁ ൑
‫ݔ‬ଵ ǡ ܽଶ ሺ‫ݔ‬ሻ ൌ ‫ݔ‬ଶ ǡ ܽଷ ሺ‫ݔ‬ሻ ൌ ‫ݔ‬ଷ . The obtained results with these
ଵൗ
ଶ function vectors are given in Figure (2).
ଶగ
൬ ൰ ቋǤ This completes the proof.
ఙ೒భ ఓ
From these Figures, it is clear that the trajectories of salve
vector, ‫ܣ‬ሺ‫ݔ‬ሻ ൌ ሾܽଵ ሺ‫ݔ‬ሻǡ ܽଶ ሺ‫ݔ‬ሻǡ ܽଷ ሺ‫ݔ‬ሻሿ் ǡ practically converge to
IV. SIMULATION RESULTS the trajectories of the master vector,
‫ܤ‬ሺ‫ݕ‬ሻ ൌ ሾܾଵ ሺ‫ݕ‬ሻǡ ܾଶ ሺ‫ݕ‬ሻǡ ܾଷ ሺ‫ݕ‬ሻሿ் . Hence, the function vector
In this section, computer simulations are used to
synchronization between the master and salve systems is
demonstrate the effectiveness of the above fuzzy control-based
effectively realized.
function vector synchronization.

The master system (Lorenz system) [28]: V. CONCLUSION

‫ݕ‬ሶଵ ൌ ͳͲሺ‫ݕ‬ଶ െ ‫ݕ‬ଵ ሻ
‫ݕ‬ሶ
ቐ ଶ ൌ ʹͺ‫ݕ‬ଵ െ ‫ݕ‬ଶ െ ‫ݕ‬ଵ ‫ݕ‬ଷ  (44) On the basis of the Lyapunov stability theory, universal
଼ approximation capability of fuzzy logic systems and variable-
‫ݕ‬ሶ ଷ ൌ െ ‫ݕ‬ଷ ൅‫ݕ‬ଵ ‫ݕ‬ଶ 
ଷ structure control theory, a new adaptive control has been
The slave system (Chen chaotic system controlled) [29]:
proposed to practically achieve function vector
‫ݔ‬ሶଵ ൌ ͵͹ሺ‫ݔ‬ଶ െ ‫ݔ‬ଵ ሻ ൅ ߮ଵ ሺ‫ݑ‬ଵ ሻ ൅ ͲǤͳሾ߮ଵ ሺ‫ݑ‬ଵ ሻሿଷ ൅‫ר‬ଵ ሺ‫ݔ‬ሻ synchronization of unknown chaotic non-affine systems
ቐ‫ݔ‬ሶ ଶ ൌ െ͹‫ݔ‬ଵ െ ‫ݔ‬ଵ ‫ݔ‬ଷ ൅ ʹͺ‫ݔ‬ଶ ൅ ߮ଶ ሺ‫ݑ‬ଶ ሻ൅ ‫ר‬ଶ ሺ‫ݔ‬ሻሺͶͷሻ subject to both input nonlinearities and dynamical
‫ݔ‬ሶ ଷ ൌ ‫ݔ‬ଵ ‫ݔ‬ଶ െ ͵‫ݔ‬ଷ ൅ ͲǤʹሾ߮ଷ ሺ‫ݑ‬ଷ ሻሿଷ ൅‫ר‬ଷ ሺ‫ݔ‬ሻ
disturbances, while ensuring that all involved signals in closed
loop system are bounded. In fact, the fuzzy systems have been
exploited to online estimate the uncertain nonlinear functions.
Unlike the previous works [26], the controller design and the
exponential convergence of the synchronization error to an
adjustable region have been rigorously derived. The [8] Y. Jianping and L. Changpin, “Generalized projective synchronization
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International Journal of Nonlinear Science, vol.14, pp.434-442, 2012.
Fig. 1. Projective synchronization with ܾଵ ሺ‫ݕ‬ሻ ൌ ͵‫ݕ‬ଵ ǡ ܾଶ ሺ‫ݕ‬ሻ ൌ ͵‫ݕ‬ଶ ǡ ܾଷ ሺ‫ݕ‬ሻ ൌ
͵‫ݕ‬ଷ : (a) ܽଵ ሺ‫ݔ‬ሻ (solid line) and ܾଵ ሺ‫ݕ‬ሻ(dotted line). (b) ܽଶ ሺ‫ݔ‬ሻ (solid line) and [15] K. Sebastian Sudheer and M. Sabir, “Adaptive modified function
ܾଶ ሺ‫ݕ‬ሻ (dotted line). (c) ܽଷ ሺ‫ݔ‬ሻ (solid line) and ܾଷ ሺ‫ݕ‬ሻ (dotted line). projective synchronization between hyperchaotic Lorenz system and
hyperchaotic Lu system with uncertain parameters,” Phys. Lett. A, vol.
373, pp. 3743–3748, 2009.
400
(a) b1(y)
[16] Y. Yu and H.X. Li, “Adaptive generalized function projective
200 a1(x) synchronization of uncertain chaotic systems,” Nonlinear Analysis: Real
a1,b1

0 World Applications, vol. 11, pp. 2456-2464, 2010.

-200
0 2 4 6 8 10 12 14 16 18 20 [17] T.C. Lin, T.Y. Lee, and V.E. Balas, “Adaptive fuzzy sliding mode
1000
time(s)
control for synchronization of uncertain fractional order chaotic
(b) b2(y) systems,” Chaos, Solitons & Fractals, vol. 44, no.10, pp. 791-801, 2011.
500 a2(x)
[18] E. Hwang, C. Hyun, E.Kim, and M. Park, “Fuzzy model based adaptive
a 2,b 2

-500
synchronization of uncertain chaotic systems: Robust tracking control
0 2 4 6 8 10
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12 14 16 18 20
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2000
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a 3,b 3

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Fig. 2. GFPS with ܾଵ ሺ‫ݕ‬ሻ ൌ ͲǤͷ‫ݕ‬ଵଶ ǡ ܾଶ ሺ‫ݕ‬ሻ ൌ ͲǤͳ‫ݕ‬ଶଶ ൅ ‫ݕ‬ଵ ‫ݕ‬ଶ and : (a) ܽଵ ሺ‫ݔ‬ሻ [21] A. Boulkroune, A. Bouzeriba, S. Hamel, T. Bouden, “Adaptive fuzzy
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