Commun Nonlinear Sci Numer Simulat 14 (2009) 27762783

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Commun Nonlinear Sci Numer Simulat

journal homepage: www.elsevier.com/locate/cnsns

Stability analysis of uncertain fuzzy Hopeld neural networks with time delays
M. Syed Ali, P. Balasubramaniam *
Department of Mathematics, Gandhigram Rural University, Gandhigram, Dindigul 624 302, Tamilnadu, India

a r t i c l e

i n f o

a b s t r a c t
In this paper, the global stability problem of uncertain TakagiSugeno (TS) fuzzy Hopeld neural networks with time delays (TSFHNNs) is considered. A novel LMI-based stability criterion is obtained by using Lyapunov functional theory to guarantee the asymptotic stability of TSFHNNs. Here, we choose a generalized Lyapunov functional and introduce a parameterized model transformation with free weighting matrices to it, in order to obtain generalized stability region. In fact, these techniques lead to generalized and less conservative stability condition that guarantee the wide stability region. The proposed stability conditions are demonstrated with four numerical examples. Comparison with other stability conditions in the literature shows our conditions are the more powerful ones to guarantee the widest stability region. 2008 Elsevier B.V. All rights reserved.

Article history: Received 29 July 2008 Accepted 25 September 2008 Available online 10 October 2008 MSC: 34K20 34K50 92B20 94D05 PACS: 02.30.ks 02.30.sa 02.60.cb Keywords: Hopeld neural networks Linear matrix inequality Lyapunov stability Time delays TS fuzzy model

1. Introduction In recent years, the well-known Hopeld neural network has been extensively studied, and successfully applied in many areas such as combinatorial optimization, signal processing and pattern recognition, see e.g. [1,2]. Recently, it has been realized that signicant time delays as a source of instability and bad performance may occur in neural processing and signal transmission. Thus, the stability problem of Hopeld neural networks has became interesting and many sufcient conditions have been proposed to guarantee the asymptotic or exponential stability for the neural networks with various type of time delays, see for example [310]. In practical systems, analysis of a mathematical model is usually an important work for a control engineer as to control a system. However, the mathematical model always contains some uncertain elements; these uncertainties may be due to additive unknown internal or external noise, environmental inuence, poor plant knowledge, reduced-order models, uncertain or slowly varying parameters. Therefore, under such imperfect knowledge of the mathematical model, seeking

* Corresponding author. E-mail addresses: syedgru@rediffmail.com (M. Syed Ali), pbalgri@rediffmail.com (P. Balasubramaniam). 1007-5704/$ - see front matter 2008 Elsevier B.V. All rights reserved. doi:10.1016/j.cnsns.2008.09.024

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to design a robust control such that the system responses can meet desired properties is an important topic in system theory. Hence, robust stability analysis for uncertain time delay systems have been the focus of much research in recent years [9,11 14]. FUZZY systems in the form of the TakagiSugeno (TS) model [15] have attracted rapidly growing interest in recent years [16,17]. TS fuzzy systems are nonlinear systems described by a set of IFTHEN rules. It has shown that the TS model can give an effective way to represent complex nonlinear systems by some simple local linear dynamic systems with their linguistic description. Some nonlinear dynamic systems can be approximated by the overall fuzzy linear TS models for the purpose of stability analysis [16,17]. Originally, Tanaka and his colleagues have provided a sufcient condition for the quadratic stability of the TS fuzzy systems in the sense of Lyapunov in a series of papers [18,19] by considering a Lyapunov function of the sub-fuzzy systems of the TS fuzzy systems. The concept of incorporating fuzzy logic into a neural network is proposed in some papers [2025]. Based on the above discussions, we shall generalize the ordinary TS fuzzy models to express a class of Hopeld neural network with time delays. The main purpose of this paper is to study the global stability results of TSFHNNs in terms of LMIs. The main advantage of the LMI-based approaches is that the LMI stability conditions can be solved numerically using MATLAB LMI toolbox [26] which implements the state of art interior-point algorithms [27]. We also provide a numerical example to demonstrate the effectiveness of the proposed stability results. 2. System description and preliminaries Consider the following uncertain Hopeld neural networks with time delays described by:

_ xt A DAxt W DWf xt s;
T n

where xt x1 t; x2 t; . . . ; xn t 2 R is the neural state vector, s is the unknown time delay. The matrices A diagfa1 ; a2 ; . . . ; an g is a diagonal matrix and ai > 0; i 1; . . . ; n; W 2 Rnn are the connection weight matrices, DA and DW represent the parameter uncertainties. f xt f1 x1 ; f2 x2 ; . . . ; fn xn T 2 Rn is the neuron activation function with f 0 0. The initial condition associated with model (1) is

xi s /i s;

i 1; 2; . . . ; n;

where /i s is bounded and continuously differential on s; 0: Throughout this paper, we make the following assumption: (A) There exist positive numbers Lq such that

06

f x f y 6 Lq ; xy

q 1; 2; . . . ; n;

for all x; y 2 R; xy and denote L diagfL1 ; L2 ; . . . ; Ln g. Suppose (A) holds, then it is clear that the conditions of Lemma 2 in [28] hold for the functions f . Therefore, similarly to the proof of Theorem 1 in [28], we can obtain that the equilibrium point of the system Eq. (1) is exist and unique. In this section, we will consider a Hopeld neural network with time delays, which is represented by a TS fuzzy model composed of a set of fuzzy implications and each implications is expressed as a linear system model. The continuous fuzzy system was proposed to represent a nonlinear system [15]. The system dynamics can be captured by a set of fuzzy rules which characterize local correlation in the state space. Each local dynamic described by the fuzzy IF THEN rule has the property of linear inputoutput relation. Based on the TS fuzzy model concept, a general class of TS fuzzy Hopeld neural networks with time delays is considered here. The model of TakagiSugeno fuzzy Hopeld NNs with time delays is described as follows. Plant Rule k: IF fh1 t is Mk1 g and . . . and fhr t is M kr g THEN

_ xt Ak DAk xt W k DW k f xt s;

where hi t; i 1; 2; . . . ; r are known variables. M kl k 2 f1; 2; . . . ; mg; l 2 f1; 2; . . . ; rg is the fuzzy set and m is the number of model rules. The parameter uncertainties DAk ; DW k are time varying matrices with appropriate dimensions, which are dened as follows:

DAk DW k M k FtE1k E2k ;

where E1k ; E2k ; M k are known constant matrices of appropriate dimensions and Ft is an known time varying matrix with Lebegue measurable elements bounded by

F T tFt 6 I;
where I is the identity matrix with appropriate dimension.

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By inferring from the fuzzy models, the nal output of TSFHNNs is obtained by

_ xt

m X k1 m X k1

xk htfAk DAk xt W k DW k f xt sg gk htfAk DAk xt W k DW k f xt sg:

, Mkl ht and gk ht xk ht

m X k1

xk ht
3

The weight and averaged weight of each fuzzy rule are denoted by

xk ht

t Y l1

m X k1

xk ht;

respectively. The term M kl ht is the grade membership of hl t in M kl . We assume that

xk ht P 0; k 2 f1; 2; . . . ; mg and

m X k1

gk ht 1; for all t P 0:

Lemma 2.1. (Schur complement [27]). The LMI

"

Q y SyT

Sy Ry

# < 0;

is equivalent to

Ry < 0; Q y SyRy1 SyT < 0;

where Q y Q yT ; Ry RyT , and Sy depend afnely on y. Lemma 2.2 (Xie [29]). Given matrices Q Q T ; H; E and R RT > 0 of appropriate dimensions, then

Q HFE ET F T HT < 0;
for all F satisfying F T F 6 R; if and only if there exist an

 > 0 such that

Q HHT 1 ET RE < 0:
3. Global stability results In this section, we obtain a stability criterion for fuzzy Hopeld neural networks with time delays without uncertainties. Theorem 3.1. Under the assumption (A), the equilibrium point of system Eq. (3) with DAk DW k 0 is globally asymptotically stable if there exist symmetric positive denite matrices P > 0; Q > 0; R > 0; S > 0; X > 0; Y > 0; symmetric matrices N i ; Sij ; i 1; . . . ; 4; i 6 j 6 4 such that the following conditions hold for k 1; 2; . . . ; m

6 6 6 X 6 6 6 4 2

S11

S12 S22

S13 S23 S33

S14 S24 S34 S44

R11 R12 R13 R14 6 R22 R23 R24 6 6 6 Rk 6 R33 R34 6 R44 4

where

7 N2 7 7 N3 7 P 0; 7 7 N4 5 R 3

N1

R15 R25 7 7 7 R35 7 < 0; 7 7 R45 5 R55

R11 PAk AT P NT N1 sS11 2YL LT XL; R12 N1 NT sS12 ; k 1 2 R13 NT sS13 Y; R14 PW k NT sS14 ; R15 AT S; k 3 4 R22 N2 NT sS22 ; R23 NT sS23 ; R24 NT sS24 ; 2 3 4 R25 0; R33 Q sS33 X; R34 sS34 ; R35 0; R44 Q sS44 ; R45 W T S; R55 S: k

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Proof. We use the following Lyapunov functional to derive the stability result:

Vt V 1 t V 2 t V 3 t;
where

V 1 t xT tPxt; Z t V 2 t f T xsQf xsds;

ts

V 3 t s

_ _ xT sRxsdsdh:

th

We can calculate derivative of Vt along the trajectories of the system Eq. (3), then we have

_ V 1 t 6

m X k1

gk htf2xT tPAk xt W k f xt sg;

_ V 2 t 6 f T xtQf xt f T xt sQf xt s; Z t _ _ _ _ _ V 3 t 6 s2 xT tRxt s xT sRxsds;

ts

By using Jensens inequality [30] we have

Z _ _ xT sRxsds 6

t ts

T Z _ xsds R

 _ xsds :

ts

ts

Finally, by letting S s2 R we have

_ Vt 6

m X k1

gk ht 2xT tPAk xt 2xT tPW k f xt s f T xtQf xt f T xt sQf xt s

Z
t

_ _ xT tSxt

T Z _ xsds R

)  _ xsds f T xtXf xt 2xT tYf xt f T xtXf xt 2xT tYf xt :

ts

ts

Noting that X and Y are positive denite matrices and using Assumption (A), we can have that

xT tYf xt 6 xT tYLxt; f xtXf xt 6 x tL XLxt:

According to LeibnizNewton formula, for any matrices N i ; i 1; . . . ; 4, the following equations hold:
T T T

6 7  _ xsds 0:

 Z 2xT tN1 xT t sN2 f T xtN3 f T xt sN 4 xt xt s

ts

On the other hand, for any appropriately dimensional matrices Sij ; i 1; . . . ; 4; i 6 j 6 4 the following equation also holds:

xt

6 xt s 6 6 4 f xt f xt s

3T 2 ! 11 7 6 !T 6 12 7 6 7 6 T 5 4 !13

!T !T !T !44 14 24 34

!12 !13 !14 2 xt !22 !23 !24 76 xt s 76 76 !T !33 !34 74 f xt 5 23

3 7 7 7 0: 5 9

f xt s

where !ij sSij Sij ; i 1; . . . ; 4; i 6 j 6 4. _ Then, we add the terms on the left sides of equations Eqs. (8) and (9) to Vt, consider Eqs. (6) and (7) and by the fact that for any r P 0 and any function f t,

f tds rf t; Z

tr

_ Vt can be expressed as follows:

_ Vt nT tRk n1 t 1
where

ts

nT tXn2 tds; 2

n1 xT txT t sf T xtf T xt sT ; _ n2 xT txT t sf T xtf T xt sxT sT ;

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_ and Rk and X are dened in Eqs. (4) and (5). If Rk < 0 and X P 0; then Vt < 0 which indicates from the Lyapunov stability theory, that the dynamics of the fuzzy Hopeld neural network Eq. (3) is globally, asymptotically stable, which completes the proof. h In the previous part, we developed a stability analysis approach for fuzzy Hopeld neural network with time delays based on LMI. From Theorem 3.1, now we obtain a stability criterion for the fuzzy Hopeld neural network with uncertainties. Corollary 3.2. Under the assumption (A), the equilibrium point of system Eq. (3) is globally asymptotically stable if there exist symmetric positive denite matrices P > 0; Q > 0; R > 0; S > 0; X > 0; Y > 0; symmetric matrices N i ; Sij ; i 1; . . . ; 4; i 6 j 6 4 and a scalar  such that the following conditions hold for k 1; 2; . . . ; m:

S11 6 6 6 X 6 6 6 4 2

S12 S22

S13 S23 S33

S14 S24 S34 S44

3 N1 7 N2 7 7 N3 7 P 0; 7 7 N4 5 R

10

R11 ET E1k R12 R13 R14 ET E2k 1k 1k 6 6 R22 R23 R24 6 6 R33 R34 Rk 6 6 6 R44 ET E2k 2k 6
6 4

R15 R25 R35 R45 R55

PMk 0

7 7 7 7 0 7 7 < 0; 7 0 7 7 ST M k 5 

11

Proof. Replacing Ak and Wk in Eq. (5) by Ak M k FtE1k and W k M k FtE2k respectively, we nd that Eq. (5) for system Eq. (3) is equivalent to

Rk WT FtC CT F T tW < 0;
where

12

W MT P 0 0 0 M T S ; k k

C E1k 0 0 E2k 0 :

By Lemma 2.2,a necessary and sufcient condition that guarantees Eq. (12) is that there exist a scalar

 > 0 such that

Rk  W W C C < 0:
Applying Schur complement formula, we can show that this is equivalent to Eq. (11). This completes the proof. h Remark 3.3. When r 1, system Eq. (3) is simplied to the general Hopeld neural network with time delays and uncertainties. Recently, the authors of [3135] have been studied the Hopeld neural networks with time delays. Thus our results make more general case of those results in the literature.

4. Numerical examples Example 1. Consider the plant rule Eq. (2) with m = 2. The TS fuzzy model of fuzzy Hopeld neural network with uncertainties is of the following form: Plant Rules: Rule 1: IF fh1 t are M k1 g, THEN

_ xt A1 DA1 txt W 1 DW 1 tf xt s;
Rule 2: IF fh2 t are M k2 g, THEN

_ xt A2 DA2 xt W 2 DW 2 f xt s;
1 with f x tanhx. The membership functions for rule 1 and rule 2 are Mk1 e2h1 t ; M k2 1 M k1 ,

A1

   1:5 0 1 0:4 ; W1 ; 0 1:7 0 0:1     1:6 0 1 0:8 ; W2 ; A2 0 1:8 0:4 0:5       0:2 0:2 sint cost E1k ; E2k ; Fk ; 0:2 0:2 cost sint

M k 0:2 0:2 :

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for

Obviously assumption (A) is satised, L diag1; 1. By using the Matlab LMI toolbox, we solve the LMIs Eqs. (10) and (11)  > 0 and s 2 the feasible solutions are

P R

68:6833

9:1364

9:1364 101:3989  73:7910 0:0780 0:0780 85:4571

; ;

  71:2104 22:2941 Q ; 22:2941 89:8010   20:0286 0:6834 S : 0:6834 17:5946

Therefore, the concerned neural networks with time delays is asymptotically stable. Example 2. Consider the Plant Rule Eq. (2) with m 2 without uncertainties. The TS fuzzy model of fuzzy Hopeld neural network without uncertainties is of the following form: Plant Rules: Rule 1: IF fh1 t are M k1 g, THEN

_ xt A1 xt W 1 f xt s;
Rule 2: IF fh2 t are M k2 g, THEN

_ xt A2 xt W 2 f xt s;
1 with f x tanhx. The membership functions for rules 1 and 2 are Mk1 e2h1 t ; M k2 1 M k1 ,

A1

 ; 0 1   1 0 ; A2 0 1 1 0

W1

0:1 0

0 0:3  0:88 0:30 W2 : 0:26 0:25 

 ;

Obviously assumption (A) is satised, L diag1; 1. By using the Matlab LMI toolbox, we solve the LMIs Eqs. (4) and (5), the feasible solutions for s 5 are,

  80:8884 7:2001 Q ; 4:5702 119:1880 7:2001 61:8536     66:2576 0:4999 22:4177 0:5867 S : R 0:4999 65:2022 0:5867 25:0655 88:6872 4:5702

 ;

Therefore, the concerned neural networks with time delays is asymptotically stable. Example 3. Consider the following delayed Hopeld neural network in [35].

_ x1 t 0:8x1 t 0:1f x1 t s 0:3f x2 t s 5; _ x2 t 5:3x2 t 0:9f x1t s 0:1f x2 t s 3;  0:8 0 0 5:3  ;  0:1 0:3 0:9 0:1 

13

where the activation function is described by f x 1 jx 1j jx 1j. The delayed feedback matrix A and the matrix W are 2

Clearly, f x satises (A) with L I. However, for m 1 there exists feasible solution to the conditions in Theorem 3.1, where s 5, e.g.,

272:7913 1:4003  121:7597 R 0:0423 P

  1:4003 89:1281 ; Q 87:4426 6:9176   0:0423 51:9042 S 126:7313 0:1824

 6:9176 ; 116:1979  0:1824 : 4:0660

Therefore, the concerned neural networks with time delays is asymptotically stable. The equilibrium point of Eq. (13) is asymptotically stable if the delay s 0:0279 by the criteria in [34], and the equilibrium point of Eq. (13) is asymptotically stable if the delay s 0:058 by the criteria in [35]. Moreover, our result is more easily testable condition than the results in [34,35]. Therefore, our result presents a less conservative result than that in [34,35] for this example. Example 4. Consider a the uncertain neural network [9]:

_ xt A DAxt W DWf xt s;       1:2 0 0:4 1 0:1 0:5 A ; W ; M ; 0 1:15 1:4 0:4 0:5 0:3       0:6 0 0:2 0 0:5 0 ; E2 ; L : E1 0 0:6 0 0:2 0 0:5

14

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1 0.8 0.6 0.4 0.2

x 1(t) x 2(t)

x(t)

0 -0.2 -0.4 -0.6 -0.8 -1 0 10 20 30 40 50 60 70 80 90 100

Fig. 1. State variations of x1 and x2 in Example 2 when m = 1.

x1 (t) x2(t)

X(t)

-1

-2

-3

10

20

30

40

50

60

70

80

90

100

Fig. 2. State variations of x1 and x2 in Example 2 when m = 2.

By using the Matlab LMI toolbox, we solve the LMI Eqs. (10) and (11) for m 1 and

P R

68:1480

22:8913

22:8913 51:3657  294:1813 4:6608 4:6608 287:4317

Q 103:0256 139:9598   25:1043 6:1594 S : 6:1594 19:4367

214:9680

103:0256

s 5 obtain the feasible solutions.

Therefore, the concerned neural networks with time delays is asymptotically stable. The equilibrium point of Eq. (14) is asymptotically stable if the delay s 0:12 by the criteria in [9]. However, our result is more easily testable condition than the results in [9]. Therefore, our result presents a less conservative result than that in [9] for this example. The following Figs. 1 and 2 shows the state trajectories of the system in Example 2 with s1 0:8; s2 0:7: 5. Conclusion A new sufcient condition is derived to guarantee the stability of the equilibrium point for uncertain fuzzy Hopeld neural networks with time delays. A linear matrix inequality approach has been developed to solve the problem addressed. Our results can be easily veried and also less conservative than previously known criteria.

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Acknowledgements The work of the author was supported by the grant of UGC, New Delhi under SAP (DRS) sanctioned No. F510/6/DRS/2004 (SAP-1). References
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