Tp ch Khoa hc Trng i hc Cn Th

Phn A: Khoa hc T nhin, Cng ngh v Mi trng: 27 (2013): 25-30

NG B H CHAOTIC LORENZ DNG B IU KHIN TRT

Nguyn Hong Dng1
1

Khoa Cng ngh, Trng i hc Cn Th

Thng tin chung:

Ngy nhn: 20/02/2013
Ngy chp nhn: 19/08/2013
Title:
Synchronization for Lorenz
chaotic system using sliding
mode controller
T kha:
B iu khin trt, h
Lorenz, h chaotic
Keywords:
Sliding mode controller,
Lorenz sysem, chaotic system

ABSTRACT
This paper proposes a method for synchronizing Lorenz chaotic system
consisting of one master and one slave. Sliding mode controller (SMC) is used
to synchronize the above system. Moreover a Lyapunov function candidate is
applied to ensure the stability of the system and adaptivity of the controller. The
above proposed algorithm is developed basing on Simulink of MATLAB. The
simulation result demonstrated for synchronization between the master and
slave system is approximately 99.94%. This research work is the initial basis
results for studying about the synchronization of a system with many masters
and many slaves.

TM TT
Bi bo ny ngh mt gii php nhm ng b ha h chaotic Lorenz gm
mt ch v mt t. B iu khin trt SMC (Sliding mode controller) c
dng thc hin vic ng b h ny. Bn cnh , l thuyt n nh
Lyapunov c p dng nhm m bo tnh n nh ca h thng cng nh tnh
thch nghi ca b iu khin nu trn. Gii thut ny c xy dng trn phn
mm Simulink ca MATLAB. Da trn kt qu m phng, s ng b gia h
ch v t t 99.94%. Kt qu nghin cu ny l c s ban u nghin cu
s ng b ca h nhiu ch v nhiu t.

tm RBFNN (Radial basic function neural

network) xp x cc hm phi tuyn cha bit v
s dng b iu khin trt (SMC) ng b h
thng ny. Nhiu tc gi ca (Choon Ki Ahn,
Sung - Tae Jung et al., 2010; Yan - Qiu Che et al.,
2010; Yu Liang and Horacio J. Marquez, 2009;
Navid Noroozi et al., 2010); Zuo-Lei Wang Xue Rong Shi, 2009; Sang-Hoon Lee et al., 2010)
chn hm Lyapunov chng minh tnh n nh
ca h thng trong khi mt s tc gi khc li s
dng cc b iu khin khc ng b h thng
nh H kt hp vi bt ng thc ma trn tuyn
tnh LMI (Linear matrix inequality) (Choon Ki
Ahn, Sung - Tae Jung et al., 2010; Sang-Hoon
Lee et al., 2010), SMC (R. Aguilar-Lopez, R.
Martnez-Guerra, 2008), chuyn t dng ton
phng sang dng thay i tham s (Yu Liang

1 GII THIU
Trong hai thp nin qua, ng b ha h
chaotic thu ht nhiu nh nghin cu khp th
gii quan tm k t cng trnh nghin cu u
tin ca Pecora and Caroll vo nm 1990 (Pecora
LM and Carroll TL, 1990). Nhng nm gn y,
ng b ha hai h thng (h thng gm mt ch
v mt t) c p dng trong cc qu trnh
phn ng ha hc, b chuyn i cng sut, cc
h thng sinh hc, x l thng tin, bo mt truyn
thng,... c bit cc tc gi ca (Alexandra S
Landsman and Ira B Schwartz, 2007) kim
chng mt m hnh n gin v ng b cc t
bo no. Cc t bo ny nhn thng tin t cc ng
vo ca nhiu vng no khc nhau. ng b
hai h thng, cc tc gi ca (Yan-Qiu Che et al.,
2010) s dng mng nron hm c s xuyn
25

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Phn A: Khoa hc T nhin, Cng ngh v Mi trng: 27 (2013): 25-30

y1 25 10 y2 y1 ,
y2 28 35 y1 y1 y3 (29 1) y2 d u,

and Horacio J. Marquez, 2009), logic m (Navid

Noroozi et al., 2010, Jiang Wang et al., 2009),
iu khin hi tip (R. Aguilar-Lopez, R.
Martnez-Guerra, 2008), lut iu khin tuyn
tnh ha (Lingling Tian et al., 2008), b iu
khin cun chiu (Zuo-Lei Wang and Xue-Rong
Shi, 2009),

y3 y1 y2

Sai s gia h ch v h t c nh ngha

nh sau:

ei yi xi ( i 1,3 )

e1 25 10e2 e1 ,
e2 2835e1 y1 y3 x1x3 (29 1)e2 d u, (4)
e3 e1e2 x2e1 x1e2

8 e3
3

Nhim v ca lut iu khin ngh s m

bo ng b gia ch xi (i 1,3) phng trnh
(1) vi t yi (i 1,3) phng trnh (2) sao cho
sai s ei (i 1,3) tin v zero.
Do h phng trnh (1) v phng trnh (2)
l h bc nht nn mt hm trt s c chn nh
sau:
s=e2

(5)

Nu h thng n nh tc lun lun nm trn

mt trt th lc ny e2=0 v phng trnh (4) c
th c vit li nh sau:

2 PHNG PHP
Mt h chaotic gm mt h ch v mt h t.
H phng trnh sau y c xem nh mt h
ch (Wenlin Li et al., 2010)

8 x3 ,

(3)

Nu ly o hm hai v ca phng trnh (3)

th sai s vi phn c xc nh nh sau:

Da trn nhng cng trnh nghin cu c

lit k trn, mt gii php c ngh l s
dng b iu khin trt ng b h chaotic
Lorenz. ng thi hm Lyapunov c s dng
tm ra lut iu khin trt thch nghi v chng
minh tnh n nh ca h thng.

x3 x1 x2

Trong , u l lut iu khin v d l n

hiu cng.

H chaotic l mt h phi tuyn. Cho nn, d h

ny c cng mt m hnh ton nhng nu iu
kin u khc nhau th p ng s khc nhau c
v pha ln bin . Cc nh khoa hc chng
minh b iu khin trt rt ph hp cho iu
khin cc h phi tuyn. Tuy nhin, b iu khin
ny c nhc im l gy dao ng i vi lut
iu khin. Do , b iu khin trt bc cao kt
hp vi b iu khin hi tip c dng lm
gim dao ng ny (R. Aguilar-Lopez and R.
Martnez-Guerra, 2008), dng logic m c
lng bin ca lut iu khin trt (Nguyn
Hong Dng v Dng Hoi Ngha, 2010). Hn
th na SMC vi mt trt c chn nh hm
tch phn t l ca (Chung-Wen Lai and et al.,
2008) c p dng ng b hai h chaotic v
c chng minh l c kh nng lm gim dao
ng i vi lut iu khin.

x1 25 10 x2 x1 ,
x 2 28 35 x1 x1 x3 (29 1) x2 ,

8 y3 ,

(2)

e1 25 10 e1 ,
e3 x 2 e1

(1)

8 e3

phng

3
trnh

(6)

(6), phng trnh

c
nghim

e1 25 10 e1
e1 exp (25 10)t . Do nu t th

Nu =0 th h chaotic l h chaotic Lorenz

e10. Nu e10 th t phng trnh (6), phng

Nu =0.8 th h chaotic l h chaotic L

e3 x2 e1

trnh

Nu =1 th h chaotic l h chaotic Chen

H p ng (hay cn c gi l h t) c
m t nh sau:

e3

26

8 e3
3

8 e3

cng

3
c

hay
nghim

Tp ch Khoa hc Trng i hc Cn Th

Phn A: Khoa hc T nhin, Cng ngh v Mi trng: 27 (2013): 25-30

(8 )
e3 exp
t . Do khi t th
3

Vi k l hng s dng.

e30.

V 25 10 e12 e22 ke2 sign(e2 ) (11)

Do phng trnh (9) tr thnh

tm c lut iu khin trt da vo mt

trt, bi bo ny s dng hm Lyapunov m
bo tnh n nh ca h chaotic Lorenz. V e1 tin
v zero th e3 tin v zero, nn hm Lyapunov xc
nh dng c chn da vo e1 v e2 nh sau:

1 2
e1 e22
2

Bng 1: Hm

(7)

(8)

=0
>0
<0

=0
<0
<0

u y1 y3 38 10 e1 x1 x3

Thay phng trnh (4) vo phng trnh (8),

phng trnh (8) s tr thnh

29 e2 d ksign(e2 )

V 25 10 e2 e1 e1

(12)

3 KT QU M PHNG V THO LUN

e2 28 35 e1 y1 y3 x1 x3 (29 1)e2 d u

Qu o pha ca h chaotic Lorenz phng

trnh (1) c m t Hnh 1. Nu cha c
ng b th h c phng trnh (1) v phng
trnh (2) s lch nhau c v pha v bin
(xem Hnh 2). Trong , iu kin u ca h
l x1(0)=-1, x2(0)=3, x3(0)=4, y1(0)=0, y2(10),
y3(0)=1, v nhiu d=0.1 *sin(1.89t). Tuy nhin,
trong mt s ng dng thc t th i hi phi c
s ng b c v bin v pha. Do , bi bo
ny ngh s dng b iu khin SMC ng
b h thng trn c v bin v pha.

V 25 10 e12 e22

e2 38 10 e1 y1 y3 x1x3 29e2 d u (9)

V 0 , chn

38 10 e1 y1 y3 x1 x3 29 e2 d u
ksign(e2 )

s=e2

T Bng 1 v phng trnh (7) c th kt lun

rng, lut iu khin phng trnh (10) s m
bo ng b n nh c h chaotic Lorenz. T
phng trnh (10), lut iu khin trt c xc
nh nh sau:

Ly o hm hai v ca phng trnh (7) t

c phng trnh sau:

V e1e1 e2 e2

V xc nh m

(10)

50
40

30
20
10
0
40
20

20
10

-20
x2

-10
-40

-20

x1

Hnh 1: Qu o pha ca h chaotic Lorenz ch

27

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Phn A: Khoa hc T nhin, Cng ngh v Mi trng: 27 (2013): 25-30

Before synchronization between x 1 and y 1

Amplitude

40
x1

20

y1

0
-20

10

20

30
40
Time(sec)
Before synchronization between x 2 and y 2

50

60

Amplitude

50
x2
y2

0
-50

10

20

30
40
Time(sec)
Before synchronization between x 3 and y 3

50

60

Amplitude

60
x3

40

y3

20
0

10

20

30
Time(sec)

40

50

60

Hnh 2: H chaotic Lorenz cha c ng b vi iu kin u x1(0)=-1, x2(0)=3, x3(0)=4, y1(0)=0,

y2(0)=10, y3(0)=1 v d=0.1*sin(1.89t)
Synchronization between x 1 and y 1
Amplitude

20
x1
0
-20

y1
0

10

20

30
40
Time(sec)
Synchronization between x 2 and y 2

50

60

Amplitude

50
x2

0
-50

y2
0

10

20

30
40
Time(sec)
Synchronization between x 3 and y 3

50

60

50
Amplitude

x3
y3
0

10

20

30
Time(sec)

40

50

60

Hnh 3: H chaotic Lorenz c ng b bng b iu khin SMC vi iu kin u x1(0)=-1, x2(0)=3,

x3(0)=4, y1(0)=0, y2(0)=10, y3(0)=1 v nhiu d=0.1*sin(1.89t)

Nu s dng b iu khin trt c xy

dng nh phng trnh (12) th ch v t trong h
chaotic Lorenz c ng b c v bin v pha

vi ph hp xp x 99.94% (xem Hnh 3).

ph hp c tnh da trn (Sunil L. Kukreja et
al., 2005).
28

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2

1 N

x
y

i i

N i 1
Fit 1
1 N

( xi ) 2

N
i 1

Phn A: Khoa hc T nhin, Cng ngh v Mi trng: 27 (2013): 25-30

Trong N l s mu

x100

Lut iu khin trt c trnh by Hnh 5.

Lut iu khin ny m bo c tnh ng b
ca h chaotic Lorenz sau 1.25 s. Tn hiu sai s
ca h thng hi t v zero (xem Hnh 4). iu
ny minh chng cho tnh n nh ca h thng.

(13)

Amplitude

Amplitude

Amplitude

Error signal y 1-x 1

5
0
-5

10

20

30
Time (sec)
Error signal y 2-x 2

40

50

60

10

20

30
Time (sec)
Error signal y 3-x 3

40

50

60

10

20

30
Time (sec)

40

50

60

10
0
-10

5
0
-5

Hnh 4: Tn hiu sai s gia ch v t sau khi ng b

C th nhn thy rng, k l bin ca hm

sign(e2) trong biu thc (12). Hm ny c nhim
v nh mt hm chuyn i a qu o v
mt trt v duy tr n nh trn mt trt . Do
, hng s k trong biu thc (12) cn phi c
chn ph hp m bo lut iu khin khng
b dao ng (to cc xung vung vi tn s cao).

Nu k cng ln th hin tng dao ng trn lut

iu khin cng ln. i vi kt qu m phng
trong bi bo ny hng s k c chn l 0.015.
Vi k c chn ph hp th lut iu khin trt
c m t Hnh 5 khng c hin tng dao
ng. V lut iu khin ny c nhim v ng
b c v bin v pha ca h Lorenz.

Sliding mode controller

5
4
3

Amplitude

2
1
0
-1
-2
-3
-4
-5

10

20

30
Time(sec)

40

Hnh 5: Lut iu khin trt (12)

29

50

60

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7.

4 KT LUN
Kt hp gia b iu khin trt v l thuyt
n nh Lyapunov, bi bo ngh mt gii
thut ng b h chaotic Lorenz gm mt h ch
v mt h t. y l mt h phi tuyn v rt nhy
vi iu kin u. Tuy nhin, kt qu m phng
cho thy gii thut p ng c kiu kin
ng b cho h thng trn vi ph hp xp x
99.94%.

8.

9.

Gi s rng nu h Lorenz c nhiu hn mt

ch v mt t th vic ng b chc chn tr nn
kh khn hn. Do , kt qu trong bi bo ny
l c s ban u nghin cu v s ng b ca
h nhiu ch v nhiu t.

10.

TI LIU THAM KHO

11.

1.

2.

3.

4.

5.

6.

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Chung-Wen Lai, Chang-Kuo Chen, Teh-Lu Liao
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