Documentos de Académico
Documentos de Profesional
Documentos de Cultura
Research Article
Synchronization of Discrete-Time Chaotic Fuzzy Systems by
means of Fuzzy Output Regulation Using Genetic Algorithm
Tonatiuh Hernndez Corts,1 A. Vernica Curtidor Lpez,1 Jorge Rodrguez Valdez,1
Jess A. Meda Campaa,1 Ricardo Tapia Herrera,1 and Jos de Jess Rubio2
1
Instituto Politecnico Nacional, SEPI-ESIME Zacatenco, Avenida IPN S/N, 07738 Mexico, DF, Mexico
Instituto Politecnico Nacional, SEPI-ESIME Azcapotzalco, Avenida de las Granjas No. 682,
02250 Azcapotzalco, Mexico, DF, Mexico
1. Introduction
A special nonlinear dynamical phenomenon, known as
chaos, emerged in mid-1960s and reached applicable technology in the late 1990s and was considered as one of
the three monumental discoveries of the twentieth century.
On the other hand, fuzzy logic, a set theory and then
an infinite-valued logic, gets a wide applicability in many
industrial, commercial, and technical fields, ranging from
control, automation, and artificial intelligence, just to name
a few. Fuzzy logic and chaos had been considered by many
researches and engineers as fundamental concepts and theories and their broad applicability in technology as well. The
interaction between fuzzy logic and chaos has been developed
for the last 20 years leading to research topics as fuzzy
modeling of chaotic systems using Takagi-Sugeno models,
linguistic descriptions of chaotic systems, fuzzy control of
chaos, synchronization, and a combination of fuzzy chaos for
engineering applications [1, 2].
In the 1960s, Rechenberg [3] introduced evolution
strategies, a method to optimize real-valued parameters for
2
According to Fogel and Aderson [8], Bremermann was
the first to implement real-coded genetic algorithms as well
as providing a mathematic model of GA known as the onemax function. In contrast to genetic algorithms, Evolutionary
Strategies were initially developed for the purpose of parameter optimization. The idea was to imitate the principles of
organic evolution in experimental parameter optimization
for applications such as pipe bending or PID control for a
nonlinear system [9].
Synchronization of chaotic systems is one of the more
exiting problems in control science and can be referred at
least to Huygens observations [10]; it is understood as one of
the trajectories of two autonomous chaotic systems, starting
from nearly initial conditions and converging to the other,
and remains as ; in [11] it was reported that some kind
of chaotic systems possesses a self-synchronization property.
However, not all chaotic systems can be decomposed in
two separate responses subsystems and be able to synchronize the drive system. The ideas of these works have led
to improvement in many fields, such as communications
[12], encrypted systems, the complex information processing
within the human brain, coupled biochemical reactors, and
earthquake engineering [13].
Synchronization can be classified as follows: Complete
Synchronization: it is when two identical chaos oscillators are
mutually coupled and one drives to the other; Generalized
Synchronization: it differs from the previous case by the fact
that there are different chaos oscillators and the states of one
are completely defined by the other; Phase Synchronization: it
occurs when the coupled oscillators are not identical and have
different amplitude that is still unsynchronized, while the
phases of oscillators evolve to be synchronized [14]. It is worth
mentioning that studies in synchronization of nonlinear
systems have been reformulated based on the previous results
from classical control theory such as [1518].
In this paper, the fuzzy output regulation theory and
Takagi-Sugeno (T-S) fuzzy models are used to solve the
Complete and Generalized Synchronization by using linear
local regulators. Isidori and Byrnes [19] showed that the
output regulation established by Francis could be extended
for a nonlinear sector as a general case, resulting in a set of
nonlinear partial differential equations called Francis-IsidoriByrnes (FIB). Unfortunately these equations in many cases
are too difficult to solve in a practical manner. For this reason
in [20] the approach based on the weighted summation
of local linear regulators is presented and in [21] the new
membership functions in the regulator are approximated by
soft computing techniques.
So, the main contribution of the present work is to find
a control law for synchronizing of chaotic systems described
by discrete-time Takagi-Sugeno fuzzy models, first when the
system fulfills the following: (1) the input matrix for all
subsystems is the same and (2) the local regulators share
the same zero error manifold ( ). In this way, the results
given in [20] are extended to the discrete-time domain. On
the other hand, when the system master-slave does not fulfill
the aforementioned conditions, new membership functions
are computed in order to enhance the performance of the
fuzzy regulator. Such proposed membership functions are
(1)
= ( ) ,
(2)
+1 = ( ) ,
(3)
ref, = ( ) ,
(4)
= ( , ) ,
(5)
(6)
ref, = ,
= .
Thus, the Nonlinear Regulator Problem [19, 23] consists of
finding a controller = ( , ), such that the closed-loop
system +1 = + ( , 0) has an asymptotically stable
equilibrium point, and the solution of system (6) satisfies
lim = 0.
So, by defining ( ) as the steady-state zero error
manifold and ( ) as the steady-state input, the following
theorem gives the conditions for the solution of nonlinear
regulation problem.
Theorem 1. Suppose that +1 = ( ) is Poisson stable and
there exists a gain such that the matrix + is stable and
(7)
+1 = 1, (1, ) { + + } ,
=1
(8)
+1 = 2, (2, ) ,
(9)
0 = .
=1
=1
= 1, (1, ) 2, (2, ) ,
where R is the state vector of the plant, R is
the state vector of the exosystem, R is the input signal,
R , and , () is the normalized weight of each rule, 1
for the plant and 2 for the exosystem, which depends on the
;
membership function for the premise variable , in ,
that is,
, (, ) = ,
(,, ) ,
=1
{+1 = + + ,
THEN {
= ,
{
, (, ) =
, (, )
,
=1 , (, )
(13)
, (, ) = 1,
=1
, (, ) 0
with , = [,1, ,2, , , ] as a function of
and/or , = 1, . . . , and = 1, . . . , .
The discrete-time fuzzy output regulation problem consists
of finding a controller = ( , ), such that the closedloop system with no external signal
Rule :
(10)
+1 = 1, (1, ) { + ( , 0)}
(14)
=1
= 1, 2, . . . , 1 ,
where 1 is the number of rules in the model of the
(15)
Exosystem Model
Rule :
IF 2,1, is 2,1
and . . . and 2,2 , is 2,
,
2
{+1 = ,
THEN {
= Q ,
{ ref,
(12)
=1
( ( ))
1
= 1, 2, . . . , 2 ,
(11)
= 1, (1, ) { ( ) + ( ) + } ,
(16)
=1
=1
=1
0 = 1, (1, ) ( ) 2, (2, ) ,
(17)
=1
=1
=1
=1
( ) = 1, (1, ) 2, (2, ) , ,
( ) = 1, (1, ) 2, (2, ) , ,
(18)
(19)
(20)
(21)
= 1, (1, )
=1
[ 1, (1, ) 2, (2, ) ]
=1
=1
[
]
1
=1
=1
(22)
+ 1, (1, ) 2, (2, ) .
However, by substitution of ( ) and ( ) in (16) and (17)
and considering
(1) the steady-state zero error manifold ( ) = ,
that is, = ,
(2) the input matrices = and/or = ,
for all = 1, . . . , 1 and = 1, . . . , 2 , the following control
signal emerges:
1
= 1, (1, ) [ ]
=1
(23)
+ 1, (1, ) 2, (2, ) .
=1
=1
= 1, (1, ) [ ]
=1
=1
=1
(24)
+ 1, (1, ) 2, (2, ) .
Proof. From the previous analysis, the existence of mappings
1
2
( ) = and ( ) = =1
1, (1, ) =1
2, (2, )
is guaranteed when the input matrices for all subsystems
are equal, and the solution of 1 2 lineal local problems is
= + + ,
0 = , ,
(25)
=1
=1
(26)
where 1, (1, ) and 2, (2, ) are new membership functions, such that the fuzzy output regulator obtained from
local regulators provides the exact fuzzy output regulation.
This approach requires the computation of the linear local
controllers and the computation of the new membership
functions. In this work, such functions are represented by the
following expression:
1, ( ) =
2, ( ) =
1
2 ,
1 + ( ) /
= 1, . . . , 1 ,
1
2 , = 1, . . . , 2 .
1 + ( ) /
(28)
=1
=1
= 1, ( ) { ( )}
1
(27)
1, and 2, are well known as generalized bell-shaped membership functions and the parameters , , , , , and
determine the form, center, and amplitude, respectively.
Therefore, from (22), the input can be defined by
=1
( ) = 1, (1, ) 2, (2, ) ,
(29)
+ 1, ( ) 2, ( ) ,
because , is a function of and in steady-state = ( ).
Then, for tuning the membership functions (27) and (28),
the parameters and will be optimized by means of genetic
algorithms, ensuring the correct interpolation between the
local linear regulators. The foregoing can be summarized in
the control scheme depicted in Figure 1.
To this end, the following algorithm should be carried out.
uk
yk
Fuzzy plant
yref,k
wk
Fuzzy
exosystem
xk
r1
i=1
Genetic algorithm
ai bi ci
Stabilizer
aj bj cj
(ai , aj )
+
r1
r2
i=1
j=1
1,i (wk ) =
1
1 + |(xk ci )/ai |2bi
2,j (wk ) =
1
1 + |(wk cj )/aj |2bj
Regulator
Bell-shaped mf s
Fuzzy controller
Figure 1: Control scheme for fuzzy output regulation and genetic algorithms.
String 1
String 2
String 3
String 4
1 = (2 + 3 ) ,
2 = 1 + 2 ,
3 = 1 ( 1 ) 3 + ,
Rossler attractor
Response system.
(30)
According to [15], these systems can be exactly represented by means of the following two-rule T-S fuzzy models
when , and are constants and 1 [ , + ] with
> 0. Thus
2
() + ()} ,
() = 1, (1 ()) {
=1
2
() = 2, (1 ()) () ,
=1
(31)
()
() = 1, (1 ())
=1
() ,
2, (1 ())
=1
7
Besides, the membership functions for such systems are
Begin
GA
Random initial
population
1
1
(1 +
),
2
1,2 (1 ) =
1
1
(1
),
2
(33)
1
1
2,1 (1 ) = (1 +
),
2
Individual performance
evaluation
Reproduction
Crossover
Mutation
es =
Another
generation
2,2 (1 ) =
1
(x w1,k )2 Objective function
2 1,k
Chromosome selection
for reproduction
Yes
1,1 (1 ) =
1
1
(1
).
2
2
+ ,
2!
(34)
= exp ( ) i = ( ) 1
.
0
+1 = 1, (1, ) { + + } ,
No
=1
Membership functions
performance
+1 = 2, (1, ) ,
(35)
=1
End
=1
=1
[ + 1
1 = [
0 1 1
[1 0 ]
1 = [
],
[ 0 ]
1
[
1 = [
0 1 1
0 ]
],
0 1 1
[
2 = [1 0 ]
],
]
0 1 1
[
]
2 = [ 1 0 ] ,
[ 0 ]
(32)
1 ]
+ 1
1
[
2 = [
[
]
],
1 ]
[ + 1
2 = [
]
],
[ 0 ]
[ 0
where
where
[
1 = [ 1
= 1, (1, ) 2, (1, ) ,
]
],
(36)
+ 1]
+ 1
]
],
+ 1]
1 = 2 = [0 0 1] ,
1 = 2 = [0 0 ] ,
=
= [1 0 0] .
= = [1 0 0] .
x3,k
x3
2
5
10
0
x2
5
x1
2
5
10
5
x2
,k
10 5
(a)
10 5
x 1,k
(b)
Figure 4: (a) Continuous T-S fuzzy model for a Rossler attractor and (b) discrete T-S fuzzy model for a Rossler attractor.
1,
1
1,2 (1, ) = (1 +
),
2
1,
1
),
1,2 (1, ) = (1 +
2
2,2 (1, ) =
(38)
[0 0 1]
are
1,1 = [0 0 0] ,
1,2 = [0 0 20] ,
2,1 = [0 0 20] ,
1,
1
),
(1 +
2
1 0 0
[0 1 0]
=[
].
(39)
2,2 = [0 0 0] .
On the other hand, the fuzzy stabilizer for this system is
computed by means of Ackermanns formula, and by locating
the eigenvalues at
(40)
(41)
9
2
Control uk
10
()
() = 1, (1 ())
=1
Amplitude
() ,
2, (1 ())
0
5
=1
10
15
(43)
0
10
15
20
Time
25
30
35
40
where
[
1 = [
uk
[ 0
Amplitude
4
3
2
1
0
1
2
3
min ]
],
min
0
[ 1 ]
1 = [
1] ,
[ 0 1
2 = [
[ 0
10
15
20
25
30
35
max ]
],
max
(44)
0
[
]
2 = [ 1 2 ] ,
40
Time
[ 0 2
e1,k
1 = 2 = [0 1 0] ,
=
= [1 0 0] .
+1 = 1, (1, ) { + + } ,
=1
1 = (2 1 ) ,
+1 = 2, (1, ) ,
2 = 1 2 1 3 ,
3 = 1 2 3 ,
1 = (2 1 ) ,
2 = ( ) 1 1 3 + 2 + ,
(42)
3 = 1 2 3 ,
Chens attractor
Response system
As before these systems can be exactly represented by
means of the following two-rule continuous-time T-S fuzzy
models when 1 [min , max ] and 1 [1 , 2 ].
Therefore,
2
() + ()} ,
() = 1, (1 ()) {
=1
2
() = 2, (1 ()) () ,
=1
=1
=1
= 1, (1, ) 2, (1, ) ,
Lorenz Attractor
Drive system
(45)
=1
where
1
0
[ ) + 1 ]
1 = [ (
min ] ,
0
min
1 ]
1
0
[
]
1 = [ 1 1 ] ,
[
1 1 ]
0
[ ) + 1 ]
2 = [ (
max ] ,
0
max
1 + ]
1
0
[
]
2 = [ 1 2 ] ,
[
2 1 ]
4
2
Amplitude
Amplitude
10
0
2
4
6
10
15
20
25
30
35
40
x1,k
w1,k
10
15
20
25
30
35
40
x2,k
w2,k
(a)
(b)
8
Amplitude
6
4
2
0
2
4
10
15
20
25
30
35
40
x3,k
w3,k
(c)
1 = 2 = [0 0] ,
= = [1 0 0] ,
(46)
with = 35, = 3, = 28, = 10, = 8/3, and
= 28 and as the sampling time. Notice that, in this
case, the Generalized Synchronization problem consists of
the tracking of 1 by 1 . This can be inferred by the form
of and . The membership functions for this system are
defined as follows:
1,1
0
0
]
],
1
0
[0.7143 0.2857
=[
0
0
]
],
1
0
[0.7143 0.2857
=[
1, + max
,
max min
1, min
1,2 (1, ) =
.
max min
[
2,1 = [ 0.7143 0.2857
1, 2
.
2,2 (1, ) =
2 1
0
0
(49)
]
],
(47)
2,2
1
0
[ 0.7143 0.2857
=[
0
0
]
].
(50)
11
h1,1 (x1,k )
h1,2 (x1,k )
Xmax
Xmin
x1,k
h2,1 (w1,k )
h2,2 (w1,k )
M1
M2
w1,k
80
50
40
40
x3
x3
60
30
20
20
10
50
0
40
20
x1
20
50
0
20
x2
10
x1
40 50
10
(a)
20
50
x2
(b)
150
100
50
0
50
100
150
Control uk
Amplitude
Amplitude
Figure 9: (a) Discrete-time T-S fuzzy model for a Chen attractor and (b) discrete T-S fuzzy model for a Lorenz attractor.
10
15
20
25
Time
30
35
40
uk
10
15
20
25
Time
30
35
40
e1
4
3
2
1
0
1
2
3
4
5
(51)
Figure 11: Tracking error 1, signal for the Generalized Synchronization of Chen-Lorenz discrete-time T-S fuzzy systems.
20
15
10
5
0
5
10
15
20
30
20
Amplitude
Amplitude
12
10
0
10
20
10
15
20
25
30
35
30
40
x1,k
w1,k
10
15
20
25
30
35
40
x2,k
w2,k
(b)
Amplitude
(a)
50
45
40
35
30
25
20
15
10
5
0
10
15
20
25
30
35
40
x3,k
w3,k
(c)
Figure 12: States of drive and response system for a Generalized Synchronization.
1
2
( 1, ) .
2 1,
where var is the size of each variable in bits, the term (int )
is the decimal integer value, and limupper = 30 and limlower =
30 with an accuracy in 3. Therefore, the variable size is equal
to 16 bits, but there are two variables, 1 and 2 ; thus the
chromosomes length is 32 bits. Therefore, the chromosomes
are represented in Figure 14.
The initial population is random binary. To assess each
individual in the objective function is needed to decode, in
this case, a real number. To this end, the following expression
is used:
(52)
(53)
Var = [Decval (
limupper limlower
2length(bit) 1
) + limlower ] .
(54)
Var is a decimal value (phenotype) for each binary chromosome (genotype), Decval is the decimal value for each binary
string, and length(bit) is equal to 16 bits.
In order to compute the individual aptitude is necessary
to introduce the value of each parameter in the bell-shaped
membership functions 1 and 2 . The tracking error function
(52) disregards the nonoptimal solution and allows the
optimal performance by considering that 1, tracks 1, . In
Table 1 the individual aptitude is depicted.
13
Binary string
01011010001000100010111010101101
11001011101111111110101000000111
10100011000010001110111101010111
01101110111100100011110001011000
01111110110010001000111010000000
01111110110010001000111010000000
01110100110000110000011110011001
00111101110001111101000010101100
10010101010001000000001101000010
10000010001011110001000101110111
00111100101000111011110011100001
00001100011111011100101000101100
10010110000010001001010001111101
10110011010110110100100101111010
01010011101010101111101011001101
00100011011001100011000000001011
10010001100100001111110100111101
10001011001010110100111011110001
01100000011011101100000001001011
00001011110001010001010011000101
Decoded integer
(7.691493, 16.518837)
(15.386557, 21.537530)
(7.116228, 22.616648)
(3.463890, 13.742489)
(0.247166, 2.945754)
(2.282414, 24.456703)
(13.451286, 16.387121)
(4.320043, 25.338247)
(19.709377, 4.057404)
(0.443946, 22.452399)
(13.682979, 12.366613)
(23.463279, 15.066789)
(4.475563, 4.162142)
(10.432136, 11.074846)
(9.005478, 24.944686)
(18.809583, 16.241123)
(3.567834, 25.439811)
(2.268925, 9.964782)
(6.412421, 13.060105)
(23.609277, 21.781125)
0.8
0.8
0.6
0.6
0.4
0.4
0.2
0.2
0
20
30
10
Fitness function
0.971109
6.840302
9.404465
0.096779
0.017387
12.438373
0.761323
13.686271
0.209690
9.159322
0.000746
0.000895
0.017576
0.001021
13.030471
0.399280
13.825474
0.003840
0.039420
5.130460
10
20
20
30
30
1,1 (x1,k )
1,2 (x1,k )
10
10
20
30
2,1 (w1,k )
2,2 (w1,k )
(a)
(b)
Figure 13: Initial membership functions for the proposed fuzzy regulator tuned by GAs.
0
a2
a1
14
1
2
0.011
0.080
0.011
0.091
3
4
5
0.109
0.001
0.000
0.200
0.201
0.201
6
7
0.145
0.009
0.346
0.355
8
9
10
0.159
0.002
0.106
0.514
0.516
0.623
11
12
0.000
0.000
0.623
0.623
(57)
13
14
15
0.000
0.000
0.151
0.623
0.623
0.775
16
17
0.005
0.161
0.779
0.940
18
19
20
0.000
0.000
0.060
0.940
0.940
1.000
fitnessval = () min ,
(55)
fitness = fitness () .
(56)
=1
fitness ()
.
fitness
= .
(58)
=0
Chromosome
( ) = 1, (1, ) ,
(59)
=1
=1
=1
= 1, ( ) { ( )} + 1, ( ) , (60)
because , is a function of and in steady-state = ( ).
For this case the initial membership functions proposed
are shown in Figure 19. As it can be seen, these membership
functions are not properly fuzzy because they do not fulfill the
1
( ) = 0. Even so, these functions
convex sum; that is, =1
will be adjusted by GAs in order to ensure the output
regulation by using input (60). The following simulation
provides a better behavior in the Lorenz-Chen discrete-time
fuzzy system by using different membership function and
tuning by GAs. Such results are depicted in Figures 2022.
15
0.8
0.8
0.6
0.6
0.4
0.4
0.2
0.2
0
20
30
10
10
20
30
20
30
1,1 (x1,k )
1,2 (x1,k )
10
20
10
30
2,1 (w1,k )
2,2 (w1,k )
(a)
(b)
20
15
10
5
0
5
10
15
20
Amplitude
Amplitude
Figure 15: Final membership functions for the proposed fuzzy regulator tuned by GAs.
10
15
20
25
Time
30
35
40
10
15
20
25
30
35
40
e1,k
Amplitude
Time
x1,k
w1,k
200
150
100
50
0
50
100
150
200
0.5
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
Control uk
Figure 18: Tracking error 1, signal for the Generalized Synchronization of Chen-Lorenz discrete-time T-S fuzzy systems.
5. Conclusions
10
15
20
Time
25
30
35
40
uk
16
Amplitude
1
0.8
0.6
2
1.5
1
0.5
0
0.5
1
1.5
10
15
20
0.4
20
30
10
10
20
30
40
1 (w1,k )
2 (w1,k )
Figure 19: Initial membership functions for the pseudofuzzy regulator tuned by GAs.
Amplitude
35
0.8
0.6
0.4
0.2
0
0
10
15
20
25
30
35
40
Time
300
250
200
150
100
50
0
50
100
150
200
30
20
10
10
20
30
1 (w1,k )
2 (w1,k )
x1,k
w1,k
Amplitude
30
e1,k
0.2
25
20
15
10
5
0
5
10
15
20
25
Time
Figure 23: Final interpolation functions for the pseudofuzzy regulator tuned by GAs.
Control uk
Conflict of Interests
The authors declare that there is no conflict of interests
regarding the publication of this paper.
0
10
15
20
25
30
35
40
Time
uk
Acknowledgments
This work is partially supported by Consejo Nacional de
Ciencia y Tecnologa (CONACYT) through Scholarship SNI
and by Instituto Politecnico Nacional (IPN) through research
Projects 20150487 and 20150794 and Scholarships COFAA,
EDI, and BEIFI.
References
[1] Z. Li and G. Chen, Eds., Integration of Fuzzy Logic and Chaos
Theory, vol. 187, Springer, Berlin, Germany, 2006.
17
[22]
[23]
[24]
[25]
[26]
[27]
[28]
[29]
[30]
[31]
[32]
[33]
[34]
[35]
[36]
[37]
18
[38] R. He and P. G. Vaidya, Analysis and synthesis of synchronous
periodic and chaotic systems, Physical Review A, vol. 46, no. 12,
pp. 73877392, 1992.
[39] A. H. Wright, Genetic algorithms for real parameter optimization, in Foundations of Genetic Algorithms, pp. 205218,
Morgan Kaufmann, Boston, Mass, USA, 1991.
Advances in
Operations Research
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Advances in
Decision Sciences
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Journal of
Applied Mathematics
Algebra
Volume 2014
Journal of
The Scientific
World Journal
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
International Journal of
Differential Equations
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Volume 2014
Advances in
Combinatorics
Hindawi Publishing Corporation
http://www.hindawi.com
Mathematical Physics
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Journal of
Complex Analysis
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
International
Journal of
Mathematics and
Mathematical
Sciences
Mathematical Problems
in Engineering
Journal of
Mathematics
Hindawi Publishing Corporation
http://www.hindawi.com
Volume 2014
Volume 2014
Volume 2014
Volume 2014
Discrete Mathematics
Journal of
Volume 2014
Discrete Dynamics in
Nature and Society
Journal of
Function Spaces
Hindawi Publishing Corporation
http://www.hindawi.com
Abstract and
Applied Analysis
Volume 2014
Volume 2014
Volume 2014
International Journal of
Journal of
Stochastic Analysis
Optimization
Volume 2014
Volume 2014