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New chaotic system and its hyperchaos generation

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 Journal of Systems Engineering and Electronics
Vol. 20, No. 6, 2009, pp.1179-1187

N e w chaotic system and its hyperchaos generation*

Bao Bocheng^''^, Liu Zhong^ & Xu Jianping
1. D e p t . of E l e c t r o n i c E n g i n e e r i n g , N a n j i n g U n i v . of Science a n d Technology, N a n j i n g 210094, P . R . C h i n a ;
2. School of E l e c t r i c a l a n d I n f o r m a t i o n E n g i n e e r i n g , J i a n g s u T e a c h e r s U n i v . of Technology, C h a n g z h o u 2 1 3 0 0 1 , P . R . C h i n a ;
3. School of E l e c t r i c a l E n g i n e e r i n g , S o u t h w e s t J i a o t o n g U n i v . , C h e n g d u 6 1 0 0 3 1 , P . R . C h i n a
(Received O c t o b e r 16, 2008)

Abstract: T o seek for l o w e r - d i m e n s i o n a l c h a o t i c s y s t e m s t h a t h a v e c o m p l e x t o p o l o g i c a l a t t r a c t o r s t r u c t u r e w i t h

s i m p l e a l g e b r a i c s y s t e m s t r u c t u r e , a n e w c h a o t i c s y s t e m of t h r e e - d i m e n s i o n a l a u t o n o m o u s o r d i n a r y differential
e q u a t i o n s is p r e s e n t e d . T h e n e w s y s t e m h a s s i m p l e a l g e b r a i c s t r u c t u r e , a n d c a n d i s p l a y a 2-scroll a t t r a c t o r w i t h
c o m p l e x t o p o l o g i c a l s t r u c t u r e , w h i c h is different from t h e L o r e n z ' s , C h e n ' s a n d Lii's a t t r a c t o r s . By introducing
a l i n e a r s t a t e feedback c o n t r o l l e r , t h e s y s t e m c a n b e c o n t r o l l e d t o g e n e r a t e a h y p e r c h a o t i c a t t r a c t o r . T h e novel
c h a o t i c a t t r a c t o r , h y p e r c h a o t i c a t t r a c t o r a n d d y n a m i c a l b e h a v i o r s of c o r r e s p o n d i n g s y s t e m s a r e f u r t h e r i n v e s t i g a t e d
by employing Lyapunov exponent spectrum, bifurcation diagram, Poincare m a p p i n g a n d phase portrait, etc., a n d
t h e n verified b y s i m u l a t i n g a n e x p e r i m e n t a l c i r c u i t .

K e y w o r d s : chaotic system, attractor, chaos, hyperchaos.

1. Introduction communications'^^" .
In simple three-dimensional autonomous systems
Algebraic simplicity of system's structure a n d topo- with two quadratic nonlinearity terms, t h e famous
logical simplicity of chaotic a t t r a c t o r are two ways for Lorenz system'^1, Chen system'^1 a n d Lu system'^1 are
measuring t h e simpleness of a system. Rossler's at- very important models for studying lower dimensional
tractor has a single folded-band structure. Its one- chaotic systems. T h e transition system by Lu a n d
scroll structure is t h e simplest topological structure Chen'^1 covers t h e g a p between Lorenz system a n d
for a three-dimensional quadratic chaotic system'^1. Chen system, a n d its dynamical equations are
T h e Lorenz's, Chen's a n d L u ' s a t t r a c t o r s w i t h
2-scroll structure are topologically more complex X = a{y - x)

than Rossler's attractor a n d most of Sprott's \ y = cy-xz (1)

examples'^'^~^l. Their simple algebraic systems all
belong t o t h e generalized Lorenz system'^1.
t h e same simple algebraic system structure, two new
chaotic systems evolved from Lorenz system by simpli-
fying t h e second equation a n d / o r modifying t h e third
equation are reported in Refs.
attractive t o seek for lower-dimensional chaotic sys-
tems t h a t have complex topological a t t r a c t o r struc-
t u r e with a simple algebraic system structure. This is
not only of much theoretical interest'^^"^^', b u t also
useful in some engineering applications such as secure
ζ = xy -bz
With
which displays a 2-scroll chaotic a t t r a c t o r for α = 36,
6 = 3 a n d c = 20.
T h e objective of this paper is t o present a n d
[8—9] recently. It is study a simple, interesting, a n d yet complex three-
dimensional quadratic autonomous chaotic system,
which can display a complex 2-scroll a t t r a c t o r . A hy-
perchaotic a t t r a c t o r can be generated via introducing
a simple linear state feedback controller. T h e novel
chaotic, hyperchaotic a t t r a c t o r a n d t h e dynamical be-

* T h i s p r o j e c t w a s s u p p o r t e d b y t h e N a t i o n a l N a t u r a l Science F o u n d a t i o n of C h i n a (60971090) a n d t h e N a t u r a l Science

F o u n d a t i o n of J i a n g s u P r o v i n c e ( B K 2009105).
1180
haviors of corresponding systems are further investi-
gated by employing several numerical tools a n d veri-
fied by simulating a n experimental circuit.
2. Finding the new chaotic attractor
2.1 T h e n e w chaotic s y s t e m
T h e new chaotic system is a simple three-dimensional
continuous autonomous ordinary differential equation
with two quadratic nonlinearity terms, which is de-
scribed as
x = a{x- y)
y = xz-cy
ζ = x'^ - bz
where a,6, c are real constants.
Comparing system (2) with Lu system, we can find
t h a t these two systems have a similar form with sim-
ple algebraic system structure, b u t t h e first a n d second
equations of system (2) are mirror equations of corre-
sponding Lu system, a n d t h e nonlinearity t e r m in t h e
third equation of system (2) is modified by x^.
System (2) is symmetrical about t h e ζ axis a n d dis-
sipative. T h e symmetrical property can be found from
t h e invariance of system (2) under t h e transformation
(x, y, z) - y , z). T h e dissipativity is derived
from
dx dy dz x . ,
VF = — + ^ + — = - 6 + c - α for 6 + c > α
dx dy dz ^ tors visualized. It is clear t h a t t h e new a t t r a c t o r is
T h e n all system orbits are ultimately confined t o a
specific subset of zero volume, a n d t h e asymptotic mo-
tion settles onto a n a t t r a c t o r .
T h e Jacobian m a t r i x of system (2) a t t h e equihb-
rium 5 * = (x*, y*, z*) is given by
a —a 0 first two Lyapunov exponents are presented. It is clear
Z* -C X*
2x* 0 -b
Clearly, if 6, c > 0, t h e new system h a s three equilib-
ria. So = ( 0 , 0 , 0 ) , 5 + = ( \ / 6 c , \ / 6 c , c ) , 5 _ =
-Vbc, c). For t h e origin 5o, system (2) h a s three char-
acteristic roots: Al = a, λ2 = —6, Xs = —c. It is clear
t h a t Al > 0, A2,3 < 0 for a, b, c> 0. Therefore, t h e
origin is a saddle point in three-dimension.
Bao Bocheng, Liu Zhong & Xu Jianping
T h e other equilibria 5 + a n d 5 _ are symmetrically
placed with respect t o t h e ζ axis. For these equilibria,
Eq. (3) yields t h e following characteristic equation
A^ + (6 + c - a)\^ + {be - ab)\ + 2abc = 0 (4)
W h e n α = 20, c = 32 a n d 6 > 0, t h e coefficients
of this cubic polynomial are all positive. T h e n by
Routh-Hurwitz criterion, for 0 < 6 < 94.667, two
non-zero equilibria 5 + a n d 5 _ are b o t h unstable;
if 6 = 4, t h e characteristic roots of system (2) a t
5 + = ( 8 Λ / 2 , 8 Λ / 2 , 3 2 ) a n d 5 _ = ( - 8 Λ / 2 , - 8 Λ / 2 , 3 2 ) are
b o t h Ai,2 = 3.670 6 ± 14.348 5i a n d A 3 = - 2 3 . 3 4 1 3,
thus t h e equihbria 5 + a n d 5 _ are all saddle-foci, Hopf
(2)
bifurcation can appear a t these equihbria.
2.2 T h e n e w attractor structure
W h e n α = 20, 6 = 4 a n d c = 32, system (2) is chaotic,
and displays a complex 2-scroll a t t r a c t o r as shown in
Fig. 1. It can be found t h a t t h e system h a s topolog-
ically more complex a t t r a c t o r structure t h a n t h e Lu
system. In particular, its a t t r a c t o r structure viewed
in y-z plane is different from t h e Lorenz's, Chen's
and L u ' s a t t r a c t o r structures. T h e Lyapunov expo-
nents of system (2) are LEi = 2.801 4, LE2 = 0,
LEs = —18.771 9, a n d t h e Lyapunov dimension is
di = 2.149 2 for initial value (1, 1, 1). Figure 2 shows
t h e Poincare mapping on two sections for t h e corre-
sponding parameters with some sheets of t h e a t t r a c -
more folded t h a n L u ' s attractor'^1.
W h e n parameters α = 20 a n d c = 32 keep constant
while parameter b is varying, t h e Lyapunov exponent
spectra of system (2) a n d its corresponding bifurca-
tion diagram of t h e s t a t e variable χ with a n initial
value ( 1 , 1, 1) are shown in Fig. 3. For clarity, t h e
(3) t h a t t h e bifurcation diagram well coincides with t h e
Lyapunov exponent spectra. In a wide parameter vari-
ation range, system (2) is chaotic with a positive Lya-
punov exponent, a zero valued exponent along with a
{-Vbc, negative Lyapunov exponent observed from Fig. 3 (a),
and with undergoing chaotic route observed from
Fig. 3 (b). Obviously, there are several narrow win-
dows of periodicity within band of chaotic behaviors.
T h e periodic window plays a n i m p o r t a n t role in t h e
New chaotic system and its hyperchaos generation 1181

(c) x-z
Fig. 1 P r o j e c t i o n s of t h e c h a o t i c a t t r a c t o r

(b) z=S2

Fig. 2 P o i n c a r e m a p p i n g s of s y s t e m (2)

-2

-4h

-6

-8

-10
0 3 9G 12 15 6
9 15
b b
(a) Lyapimov exponent spectra (b) Bifurcation diagram of χ with
increasing ft of system (2)

Fig. 3 L y a p u n o v e x p o n e n t s p e c t r a of s y s t e m (2) a n d its c o r r e s p o n d i n g b i f u r c a t i o n d i a g r a m of t h e s t a t e v a r i a b l e χ

w i t h a n initial v a l u e ( 1 , 1, 1)
1182 Bao Bocheng, Liu Zhong & Xu Jianping

evolution of dynamical behaviors of a chaotic system.
As b increases within t h e parameter variation range,
a reverse period-doubling route to chaos exists in t h e
system at larger parameter value b. T h e domains of
parameter b are listed in Table 1.
Several typical chaotic and periodic orbits of system
(2) are obtained from numerical simulations as shown
in Fig. 4. Figures 4(a)'^(c) show t h e typical portrait
phases of chaotic region. Figures 4(d)'^(f) illustrate
t h e typical periodic orbits.

Table 1 P a r a m e t e r r a n g e for b e h a v i o r s o f t h e n e w s y s t e m

For 0 < 6 < 9.39, t h e s y s t e m h a s c h a o t i c a t t r a c t o r s ;

For 5.91 ^ 6 ^ 6 , t h e r e is a b i g p e r i o d i c w i n d o w ;
N e a r b = 0 . 3 , 0.39, 0.45, 0.53, 0.7, 0.78 a n d 0.9, t h e r e a r e several n a r r o w p e r i o d i c w i n d o w s ;
N e a r b = 1.26, 1.8, 3.75, 5 . 1 , 7 . 1 , 9.06 a n d 9.3, t h e r e a r e several n a r r o w p e r i o d i c w i n d o w s ;
For 9.39 ^ 6 ^ 15, t h e r e a r e l i m i t e d cycles;

For b = 9 . 5 1 , 10.05 a n d 12.66, t h e r e a r e t h r e e r e v e r s e p e r i o d i c b i f u r c a t i o n p o i n t s .

-80 -60 -40 -20 0 20 40 60 80

y
(b) Chaotic attractor (ft=8)

0 20
y
(c) Chaotic attractor (h=S.9}

-20 0 40
y
(c) Limit cycle (ft=6) (f) Limit cycle (ft=12)

Fig. 4 C h a o t i c a n d p e r i o d i c o r b i t s in y-z plane

New chaotic system and its hyperchaos generation 1183

3. Generating the hyperchaotic T h e hyperchaotic system will evolve with different

attractor traces with different parameter values of d.

(1) For 0 < d ^ 19.93, L ^ i , 2 > 0, LEs ^ 0, LE4 < 0,

W i t h a new variable w acting as t h e excitation, t h e
system (5) is hyperchaotic. W h e n ί ί = 1 3 . β , system (5)
new hyperchaotic system is given by
displays a complex 2-scroll hyperchaotic a t t r a c t o r as
shown in Figs. 6 (a)'^(d). Its Lyapunov exponents are
X = a{x — y)
LEi = 1.485 1, LE2 = 0.143 4, LEs = - 0 . 0 7 9 9,
y = xz - cy -\- w LE4 = —17.530 6, a n d t h e Lyapunov dimension is
(5)
ζ = xy — bz dL = 3.092 5 for t h e initial value (1, 1, 1, 0). There is

w = d{x-\- y) a periodic point for d = 2.76.

(2) For 19.93 < d ^ 29.2, LEi > 0, LE2 = 0,
LEs,4 < 0, system (5) is chaotic, as shown in Fig. 7
where d is a real parameter.
(a).'
It is obvious t h a t t h e origin 5 o = ( 0 , 0, 0, 0) is t h e (3) For 29.2 < d ^ 40.66, LEi = 0, L^2,3,4 < 0,
unique equihbrium of system (5). T h e Jacobian ma- system (5) is periodic, as shown in Fig. 7 (b). For
trix a t Sq is given by ίί=33.2, there is a reverse period-doubling bifurcation
point.
α -a 0 0 (4) For 40.66 < d ^ 41.4, LEi > 0, LE2 = 0,
0 -c 0 1 L^3,4<0, system (5) is chaotic.
J = (6)
0 0 - 6 0 (5) For 41.4 63.4, L^i,2 = 0, L^3,4<0, system
d d 0 0 (5) is quasi-periodic, as shown in Fig. 7 (c).
(6) For d > 63.4, LEi = 0, L^2,3,4 < 0, system (5)
is periodic, as shown in Fig. 7 (d).
and its characteristic equation is
In t h e above, we have shown t h a t chaotic system (2)
(λ + b) [\^ + (c - α)λ2 - + ac)\ + 2ad] = 0 (7) can b e controlled t o become hyperchaotic via a sim-
ple state feedback controller. T h e hyperchaotic char-
By Routh-Hurwitz criterion, t h e origin So is unstable acteristics of system (5) have then been verified by
for d ^ 0 when α = 20, 6 = 4 a n d c = 32. calculating its Lyapunov exponent spectrum a n d in-
Figure 5 shows t h e Lyapunov exponent spectra of vestigating its bifurcation routes. Various a t t r a c t o r s
system (5) a n d its corresponding bifurcation diagram and several bifurcation routes evolving from periodic,
of t h e state variable z. For clarity, t h e first three Lya- quasi-periodic a n d chaotic t o hyperchaotic behaviors
punov exponents are presented. are observed.

2
I
Vv^

! 0

A y
I : :
1/
-3.
20 40 GO 80
d
(a) Lyapunov exponent spectra (b) Bifurcation diagram of ζ with
iucre^ising d of system (5)

Fig. 5 L y a p u n o v e x p o n e n t s p e c t r a of s y s t e m (5) a n d i t s c o r r e s p o n d i n g b i f u r c a t i o n d i a g r a m of t h e s t a t e v a r i a b l e ζ
1184 Bao Bocheng, Liu Zhong & Xu Jianping

80 90

Fig. 6 P r o j e c t i o n s of t h e h y p e r c h a o t i c a t t r a c t o r

-25-20-15-10-5 0 5 10 15 20 25
X
(a) Chaos (rtf=2C) (b) Period {rf=36)

(c) Qiuusi-pcriod (<i=45) (d) Perioil (d=70)

Fig. 7 C h a o t i c , p e r i o d i c a n d q u a s i - p e r i o d i c o r b i t s in x-z plane

New chaotic system and its hyperchaos generation 1185

4. Implementing the chaotic and According t o this circuit, we have

hyperchaotic system RsRio RisRie

a = b=
R1R4C1 RiR^R^Ci' RiiRuRibCs
Figure 8 shows t h e circuit configuration of t h e pro-
R7R9 , Ra Ra
posed chaotic a n d hyperchaotic systems, where oper- c= d = (9)
RsR8RioC2' RdiRiCi Rd2RiCi
ational amplifiers can b e realized by LM741 or LF347,
By adjusting t h e resistors Rdi and Rd2 with a same
and multipliers by AD633. T h e circuit consists of four
value, t h e phase portraits of hyperchaotic a t t r a c t o r
channels which realize t h e four state variables x, y, ζ
and quasi-periodic orbit can b e obtained by Ρ Spice
and w respectively, a n d its partial circuit upper t h e
simulations, as shown in Fig. 9 (a)'^(b), where t h e
fourth channel is designed t o realize t h e chaotic sys-
initial voltage of capacitors C i , ( 7 2 , C 3 a r e all 1 V,
tem. W i t h circuit parameters shown in Fig. 8, t h e
and t h a t of Ci is 0 V. Only considering t h e circuit
partial circuit can generate a chaotic signal o u t p u t .
of system (2), t h e phase portraits of chaotic a t t r a c t o r
T h e circuit in t h e fourth channel is a linear control
can b e yielded by adjusting t h e resistor i ^ n , as shown
circuit which will make t h e whole system exhibit novel
in Figs. 9 ( c ) - ( d ) .
hyperchaotic observation.
Comparing Figs. 9(a)'^(d) with Figs. 6 ( b ) , 7(c),
Considering practical operation voltage ranges of
1(d) a n d 4(c), t h e simulation results a r e consistent
t h e operational amplifier and t h e analogue multiplier,
with t h e phase portraits given by mathematical calcu-
t h e amplitude of every variable of t h e circuit in Fig. 8
lation of t h e corresponding system equations. These
has been reduced by t h e following linear transforma-
results verify t h a t t h e proposed chaotic a n d hyper-
tion
chaotic system can go into chaos a n d hyperchaos be-
(x, y, z, w) (lOx, lOy, lOz, lOw) (8) haviors over parameter variation range.

Fig. 8 S c h e m a t i c s of t h e h y p e r c h a o t i c s y s t e m
1186 Bao Bocheng, Liu Zhong & Xu Jianping

>
>

0.2 V / c l i v 0.1 V / d i v
(a) /?ji = 7 2 ^ = 7 3 5 . 3 Ω (b) = = 222.2 Q

0.5 V / d i v 0.2 V / d i v
(c) Λη = 1ϋ kn (d) Λ „ = 4 . 4 4 4 kQ

Fig. 9 H y p e r c h a o t i c , c h a o t i c a n d q u a s i - p e r i o d i c o r b i t s of t h e c i r c u i t

5. Conclusion References
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