European Journal of Scientific Research ISSN 1450-216X Vol.45 No.4 (2010), pp.630-636 EuroJournals Publishing, Inc. 2010 http://www.eurojournals.com/ejsr.

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A Novel Adaptive Synchronization of Lus Chaotic System

K. Ratchagit Department of Mathematics, Faculty of Science Maejo University, Chiang Mai 50290, Thailand E-mail: kreangkri@mju.ac.th Tel: +66-053-873000; Fax: +66-053-873000 Abstract In this paper, we study Lus system, and we study the stability of equilibrium point of Lus system. Then, we study chaos synchronization of Lus system by using adaptive control methods. Keywords: Lus system; Synchronization; Adaptive control.

1. Introduction
Chaos in control systems and controlling chaos in dynamical systems have both attracted increasing attention in recent years. A chaotic system has complex dynamical behaviors that possess some special features, such as being extremely sensitive to tiny variations of initial conditions, having bounded trajectories in the phase space. Controlling chaos has focused on the nonlinear systems such as a Lus system. Lus system was first introduced in [2] which is described by
x = a( y x) y = xz + cy z = xy bz
. . .

(1.1)

are state variables, a, b, c are positive constants. The objective of this paper is as follow. We investigate adaptive synchronization for Lus system when the parameters of the drive system are fully unknown and different with those of the response system. where
x, y, z

2. Synchronization of the Lus System

Consider two nonlinear systems:
& x = f (t , x) & y = g (t , y ) + u (t , x, y )
n

(*) (**)
r + n

Where x , y , f , g C [ , n ], u C r [+ n n , n ], r 1, + is the set of non-negative real numbers. Assume that (*) is the drive system, (**) is the response system, and u (t , x, y ) is the control vector. Definition 2.1. Response system and drive system are said to be synchronic if for any initial conditions x(t0 ), y (t0 ) n , tlim x(t ) y (t ) = 0. +

A Novel Adaptive Synchronization of Lus Chaotic System

631

In this section, we consider adaptive synchronization Lus systems. This approach can synchronize the chaotic systems when the parameters of the drive system are fully unknown and different with those of the response system. Assume that there are two Lus systems such that the drive system (with the subscript 1) is to control the response system (with the subscript 2). The drive and response system are given, respectively, by
x1 = a( y1 x1 ) y1 = x1 z1 + cy1 z1 = x1 y1 bz1
. . .

(2.1)

where the parameters a, b, c are unknown or uncertain, and.

x 2 = a1 ( y2 x2 ) u1 y2 = x2 z2 + c1 y2 u2 z2 = x2 y2 b1 z2 u3
T where a1 , b1 , c1 are parameters of the response system which need to be estimated, and u = [u1 , u2 , u3 ] is the controller we introduced in (2.2). We choose u1 = k1ex a( x2 x1 )

(2.2)

u2 = k2 ey + c( y2 y1 ) u3 = k3ez b( z2 z1 ) where ex , ey , ez are the error states which are defined as follows:
ex = x2 x1 e y = y2 y1 ez = z2 z1

(2.3)

and

& a1 = f a = ( x2 ex y2 ex ) & b1 = fb = y2 ez & c1 = f c = x2 ez

(2.4)

where k1 , k2 , k3 0 and , , are positive real constants. Theorem 2.1. Let k1 , k2 , k3 0 be properly chosen so that the following matrix inequality holds,
1 (a + 1) 0 k1 a 2 1 1 (a + 1) (1 b) > 0 P= k2 + 1 2 2 1 (1 b) 0 k3 2 k1 , k2 , k3 can be chosen so that the following

(2.5)

or

inequalities holds,

(ii) A = k1 a > 0 (iii) B = A(k2 + 1) (a + 1)2 > 0 (iv) C = A(k2 + 1)k3 A (1 b) 2

1 4 k3 (a + 1) > 0. 4 1 4

Then the two Lus system (2.1) and (2.2) can be synchronized under the adaptive controls (2.3) and (2.4). Proof. It is easy to see from (2.1) and (2.2) that the error system is

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& ex = a1 ( y2 x2 ) a( y1 x1 ) u1 & e y = x2 z2 + c1 y2 + x1 z1 cy1 u2 & ez = x2 y2 b1 z2 x1 y1 + bz1 u3

K. Ratchagit (2.6)

Let ea = a1 a, eb = b1 b, ec = c1 c. Choose the Lyapunov function as follows:

1 2 2 1 2 1 2 1 V (t ) = ex + ey + ez2 + ea + eb + ec2 . 2 Then the differentiation of V along trajectories of (2.6) is 1 1 1 & & & & & & & V = ex ex + ey ey + ez ez + ea ea + eb eb + ec ec

= ex [ a1 ( y2 x2 ) a ( y1 x1 ) u1 ] +ey [ x2 z2 + c1 y2 + x1 z1 cy1 u2 ] +ez [ x2 y2 b1 z2 x1 y1 + bz1 u3 ] 1 1 1 + ea f a + eb fb + ec f c

= ex [ a1 y2 ay1 + ay2 ay2 ] ex [ a1 x2 ax1 + ax2 ax2 ] +ey [ x1 z1 x2 z2 + x2 z1 x2 z1 ] + ey [ c1 y2 cy1 + cy2 cy2 ] +ez [ x2 y2 x1 y1 + x1 y2 x1 y2 ] + ez [bz1 b1 z2 + b1 z1 b1 z1 ] ex u1 ey u2 ez u3 + 1 1 1

ea f a +

eb f b +

ec f c

= y2 ea ex + aex ey ea ex ( x2 x1 )ex + x2 ea ex
2 2 + ex ex ey ey + ey ez y2 eb ez bey ez 2 + x2 ec ez + c( x2 x1 )ez k1ex + ( x2 x1 )ex 2 k2 ey k3 ez2 c( x2 x1 )ez +

ea f a

1 1 + eb f b + ec f

2 2 = (k1 a )ex (k2 + 1)ey k3 ez2 + (a + 1)ex ey

1 + (1 b)ey ez + ea f a + y2 ex + x2 ex ex 1 1 + eb f b y2 ez + ec f c + x2 ez
2 2 (k1 a )ex (k2 + 1)ey k3 ez2 + (a + 1) ex ey

+ (1 b) ey ez = eT Pe

& where e = ex ey ez and P is as in (2.5). Since V (t ) is positive definite and V (t ) is negative & semidefinite, it follows that ex , ey , ez , a1 , b1 , c1 L . From V (t ) eT Pe, we can easily show that the square of ex , ey , ez are integrable with respect to t, namely, ex , ey , ez L2 . From (2.6), for any initial conditions, & & & we have ex (t ), ey (t ), ez (t ) L . By the well-known Barbalats Lemma, we conclude that (ex , ey , ez ) (0, 0, 0) as t +. Therefore, in the closed-loop system, x2 (t ) x1 (t ), y2 (t ) y1 (t ), z2 (t ) z1 (t ) as t +. This implies that the two Lus systems have synchronized under the adaptive controls (2.3) and (2.4).

A Novel Adaptive Synchronization of Lus Chaotic System

Numerical Simulations

633

The numerical simulations are carried out using the Fourth-order Runge-Kutta method. The initial states are x1 (0) = 0.65, y1 (0) = 0, z1 (0) = 0 for the drive system and x2 (0) = 0.2, y2 (0) = 0.1, z2 (0) = 0.1 for the response system. The parameters of the drive system are a = 5, b = 10, c = 0.5. The control parameters are chosen as follows k1 = 5, k2 = 50, k3 = 21 which satisfy (2.5). Choose = = = 1. The initial values of the parameters a1 , b1 , c1 are all chosen to be 0. As shown in Fig. 1, the response system synchronizes with the drive system. The changing parameters of a1 , b1 , c1 are shown in Fig. 2-4.
Figure 1: Synchronization error (ex , ey , ez ) for system (2.1) and (2.2) with time t.

Figure 2: Changing parameter a1 of the system (2.2) with time t.

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Figure 3: Changing parameter b1 of the system (2.2) with time t.

K. Ratchagit

Figure 4: Changing parameter c1 of the system (2.2) with time t.

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3. Summary and Concluding Remarks

In this paper, we give sufficient conditions for stability of equilibrium points of synchronization of two Lus systems using adaptive control which control the chaotic behavior of Lus system to its equilibrium points. Numerical Simulations are also given to verify results we obtained.

Ackhowledgment
This work was supported by the Thai Research Fund Grant, the Higher Education Commission and Maejo University, Thailand. The author would like to thank the anonymous referee for his/her valuable comments and remarks which greatly improved the final version of the paper.

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