CN109445286A - A kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system - Google Patents
A kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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Abstract
The invention discloses a kind of Global robust Sliding mode synchronization control methods of uncertain time_varying delay chaos system, the following steps are included: A, first against two with uncertain and Time-varying time-delays Master-Slave Chaotic Systems, one has uncertain and Time-varying time-delays chaos systems as main chaos system, another is used as with uncertain chaos systems with Time-varying time-delays from chaos system；B, it is made the difference by the main chaos system in step A and from chaos system correspondence, obtains error system；C, then designing suitable Global robust sliding formwork control face makes error system reach desired sliding mode: parameter update law and global sliding mode control law, meets error system reaching condition, realizes global sliding mode control；D, finally parameter update law and Global robust sliding formwork control ratio are added in response system, control synchronous error levels off to 0, realizes the Global robust Sliding mode synchronization control with uncertain and Time-varying time-delays chaos systems；The Global robust Sliding mode synchronization control method that the present invention uses makes winner's chaos system and from connection is established between chaos system, reduces the conservative of system, improves the safety of secret communication.
Description
Technical field
The invention belongs to signal processing and secret communication field, in particular to a kind of uncertain time_varying delay chaos system it is complete
Office's Sliding mode synchronisation control means.
Background technique
Currently, Sliding mode variable structure control is to force the motion profile of closed-loop system to reach using sliding mode controller to preselect
Sliding-mode surface on, then system motion track is maintained on sliding-mode surface under the action of a discontinuous switching law, most
Desired dynamic is converged to along sliding-mode surface eventually, total-sliding-mode control makes system from the beginning on sliding-mode surface, eliminates approach mould
State, and there is complete robustness to matched interference；Time delay and uncertainty are prevalent in real system, make be
Aspiration level is not achieved in the performance of system, in addition make system concussion be dissipated into it is unstable, therefore, for time-delay uncertainty system control
The research of method is particularly important, currently, the research about conventional Control of Chaotic Synchronization method is mature, and when to uncertain change
The synchronisation control means research of stagnant chaos system is not very much.
Therefore, a kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system is needed now, so that
Connection is established between chaos system and main chaos system, is reduced the conservative of system, is improved the safety of secret communication.
Summary of the invention
The present invention is directed to a kind of synchronously control problem with uncertain and time_varying delay chaos system, proposes one kind not
Determine the Global robust Sliding mode synchronization control method of time_varying delay chaos system, this method design process is simply clear, and can take
Obtain good synchronously control effect.
The present invention adopts the following technical scheme:
A kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system, which is characterized in that including with
Lower step:
A, first against two with uncertain and Time-varying time-delays Master-Slave Chaotic Systems, one with uncertain and
The chaos system of Time-varying time-delays as main chaos system, another with uncertain and Time-varying time-delays chaos systems be used as from
Chaos system；
B, it is made the difference by the main chaos system in step A and from chaos system correspondence, obtains error system；
C, then designing suitable Global robust sliding formwork control face makes error system reach desired sliding mode: parameter is certainly
Rule and global sliding mode control law are adapted to, error system reaching condition is met, realizes global sliding mode control；
D, finally parameter update law and Global robust sliding formwork control ratio are added in response system, control synchronous error becomes
It is bordering on 0, realizes the Global robust Sliding mode synchronization control with uncertain and Time-varying time-delays chaos system.
As a preferred embodiment, the difference of Master-Slave Chaotic Systems described in step A is as follows:
Main chaos system is:
It is from chaos system:
Wherein, x (t) ∈ RnIt is the state vector of main chaos system (1), y (t) ∈ RnBe from the state of chaos system (2) to
Amount；A∈Rn×n, B ∈ Rn×mFor sequency spectrum matrix；ΔA1(t), Δ Ad(t) it is system parameter perturbation, meets Δ A1(t)=BE
(t), Δ Ad(t)=BEd(t), E and EdFor the matrix of appropriate dimension；And (A+Ad, B) and it is controllable pair, f ∈ RnRepresent external disturb
It is dynamic, meet f=BF, F (x, t) is the Jacobian matrix of appropriate dimension；τ(t)∈[h1,h2] be unknown time-delay, have it is determining up and down
Boundary, but its change rate is unknown；It is continuous initial function vector.
As a preferred embodiment, main chaos system further arranges are as follows:
Wherein, ω1(x, t)=B [E (t) x (t)+Ed(t)x(t-τ(t))+F(x,t)]。
It is further arranged from chaos system are as follows:
Wherein, ω1(y, t)=B [E (t) y (t)+Ed(t)y(t-τ(t))+F(y,t)]。
As a preferred embodiment, the step B specifically includes the following steps:
Define main chaos system (3) and from the error of chaos system (4) be e (t)=y (t)-x (t), obtain error system
(5) are as follows:
Wherein, ω (e, t)=ω1(y,t)-ω1(x, t), and there are unknown normal number α1, α2Meet: | | ω (x, t) |
|≤α1+α2| | e (t) | |, | | | | 2 norms of representing matrix；
As a preferred embodiment, the step C specifically includes the following steps:
A, designing suitable global sliding mode control plane makes it reach desired sliding formwork dynamic, and the whole process with integrated form is sliding
Die face (6) design is as follows:
Wherein, G ∈ Rm×nIt is nonsingular to meet GB, K ∈ Rm×nIt is constant matrices.For any known initial error e (0), all
It is able to satisfy S (e (0), 0)=0, system is from the beginning on sliding-mode surface, to eliminate reaching mode.
B, suitable control law (7) is selected are as follows:
U (t)=- Ke (t)+udis(t) (7),
Wherein, discontinuous control law (8) are as follows:
Wherein,WithIt is α respectively1And α2Estimated value, ε is normal number.
C, parameter update law designs are as follows:
Wherein, parameter error is
Due to the discontinuity of the sign function sign (S) in control law (8), it will cause sliding formwork and shake very serious, useSign function is replaced, wherein δ is the normal number of a very little, i.e., discontinuous control law becomes:
Control law (10) and parameter update law (9) are added in from chaos system (4), and error system (5) is in control law
(10) and under parameter update law (9) control level off to zero, then from chaos system (4) and main chaos system (3) realize it is progressive together
Step.
As a preferred embodiment, being provided with step E after the step D: to mixed from chaos system (4) and master
Ignorant system (3) is verified after realizing Asymptotic Synchronization.
As a preferred embodiment, realizing that Asymptotic Synchronization is laggard to from chaos system (4) and main chaos system (3)
Row verifying includes that construction liapunov function is as follows:
The differential of function V are as follows:
It brings S (e (0), t) into, and brings parameter update law (9) into formula (12), can obtain:
Because | | S | |1>=| | S | |, so
As S ≠ 0, haveTherefore, being verified control law (10) and parameter update law (9) from chaos system makes
Asymptotic Synchronization is realized from chaos system (4) and main chaos system (3).
After above-mentioned technical proposal, the beneficial effects of the present invention are: present invention research is based on Lyapunov stability
Property theory and global sliding mode thought, design global sliding mode control plane and parameter adaptive control rule, realize uncertain time_varying delay
The synchronously control of chaos system.The Synchronization Secure of uncertain time_varying delay chaos system makes winner's chaos system and from chaos
Connection is established between system, is reduced the conservative of system, is improved the safety of secret communication.Due to depositing for time lag and Parameter Perturbation
Considering that the Global robust Sliding mode synchronization control problem of uncertain time_varying delay chaos system has important theory significance and application
Value.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is the chaos attractor of main chaos system；
Fig. 3 is the chaos attractor from chaos system；
Fig. 4 is the control law from chaos system；
Fig. 5 is synchronization error e (t).
Specific embodiment
Below in conjunction with the attached drawing in present example, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution: a kind of Global robust of uncertain time_varying delay chaos system is sliding
Mould synchronisation control means, the following steps are included:
A, first against two with uncertain and Time-varying time-delays Master-Slave Chaotic Systems, one with uncertain and
The chaos system of Time-varying time-delays as main chaos system, another with uncertain and Time-varying time-delays chaos systems be used as from
Chaos system；
B, it is made the difference by the main chaos system in step A and from chaos system correspondence, obtains error system；
C, then designing suitable Global robust sliding formwork control face makes error system reach desired sliding mode: parameter is certainly
Rule and global sliding mode control law are adapted to, error system reaching condition is met, realizes global sliding mode control；
D, finally parameter update law and Global robust sliding formwork control ratio are added in response system, control synchronous error becomes
It is bordering on 0, realizes the Global robust sliding formwork control with uncertain and Time-varying time-delays chaos system.
In the present invention, Master-Slave Chaotic Systems difference is as follows in step A:
Main chaos system are as follows:
From chaos system are as follows:
Wherein, x (t) ∈ RnIt is the state vector of main chaos system (15), y (t) ∈ RnIt is the state from chaos system (16)
Vector；A∈Rn×n, B ∈ Rn×mFor sequency spectrum matrix；ΔA1(t), Δ Ad(t) it is system parameter perturbation, meets Δ A1(t)=BE
(t), Δ Ad(t)=BEd(t), E and EdFor the matrix of appropriate dimension；And (A+Ad, B) and it is controllable pair, f ∈ RnRepresent external disturb
It is dynamic, meet f=BF, F (x, t) is the Jacobian matrix of appropriate dimension；τ(t)∈[h1,h2] be unknown time-delay, have it is determining up and down
Boundary, but its change rate is unknown；It is continuous initial function vector.
Main chaos system further arranges are as follows:
Wherein, ω1(x, t)=B [E (t) x (t)+Ed(t)x(t-τ(t))+F(x,t)]。
It is further arranged from chaos system are as follows:
Wherein, ω1(y, t)=B [E (t) y (t)+Ed(t)y(t-τ(t))+F(y,t)]。
The Master-Slave Chaotic Systems that the present invention selects all have uncertain and Time-varying time-delays, the more adjunction of the mathematical model of system
Nearly real system, it is representative.
In the present invention, step B specifically includes the following steps:
Define main chaos system (3) and from the error of chaos system (4) be e (t)=y (t)-x (t), obtain error system
(5) are as follows:
Wherein, ω (e, t)=ω1(y,t)-ω1(x, t), and there are unknown normal number α1, α2Meet: | | ω (x, t) |
|≤α1+α2| | e (t) | |, | | | | 2 norms of representing matrix；
The present invention utilizes matrix norm relationship, constrains the matching uncertainties in system, passes through follow-up work, needle
To the unknown parameter design adaptive law in constraint condition.
In the present invention, step C specifically includes the following steps:
A, designing suitable global sliding mode control plane makes it reach desired sliding formwork dynamic, and the whole process with integrated form is sliding
Die face (6) design is as follows:
Wherein, G ∈ Rm×nIt is nonsingular to meet GB, K ∈ Rm×nIt is constant matrices；For any known initial error e (0), all
It is able to satisfy S (e (0), 0)=0, system is from the beginning on sliding-mode surface, to eliminate reaching mode.
B, suitable control law (7) is selected are as follows:
U (t)=- Ke (t)+udis(t) (21),
Wherein, discontinuous control law (8) are as follows:
Wherein,WithIt is α respectively1And α2Estimated value, ε is normal number.
C, parameter update law designs are as follows:
Wherein, parameter error is
Due to the discontinuity of the sign function sign (S) in control law (8), it will cause sliding formwork and shake very serious, useSign function is replaced, wherein δ is the normal number of a very little, i.e., discontinuous control law becomes:
Control law (10) and parameter update law (9) are added in from chaos system (4), and error system (5) is in control law
(10) and under parameter update law (9) control level off to zero, then from chaos system (4) and main chaos system (3) realize it is progressive together
Step.
Specifically, construction liapunov function V is as follows:
The differential of function V are as follows:
It brings S (e (0), t) into, and brings parameter update law (9) into formula (12), can obtain:
Because | | S | |1>=| | S | |, so
As S ≠ 0, haveTherefore, control law (10) and parameter update law (9) are verified from chaos system
Make to realize Asymptotic Synchronization from chaos system (4) and main chaos system (3).
The present invention utilizes sliding mode control theory and Adaptive Control Theory, and this method has less parameter identification, effectively
Raising controller control efficiency, reduce the conservative of system.
In addition, Sliding mode variable structure control is global sliding mode just structure control, and system is from the beginning in sliding formwork in the present invention
On face, reaching mode is eliminated, reduces the adjustment time of system, meanwhile, by choosing suitable Lyapunov Equation, pass through
Theory deduction verifies the correctness and validity of designed controller, realizes the synchronously control of uncertain time_varying delay chaos system.
Embodiment
The Global robust Sliding mode synchronization control method of a kind of uncertain time_varying delay chaos system of the present invention, for changing
Into Chua's chaotic circuit carry out case verification:
The state equation of classical cai's circuit:
Wherein, f (x1)=bx1+0.5(a-b)(|x1+1|-|x1- 1 |), a=-1.28, b=-0.69.
By taking main chaos system as an example, above-mentioned classical cai's circuit is improved, when obtaining with uncertain and time-varying
Stagnant chaos system, main chaos system are as follows:
Wherein,
And(s3=) 0.3-0.2cos (2t).
Sliding-mode surface coefficient is chosen:
ε=0.1, δ=0.03.
It brings above-mentioned parameter into formula (20) and obtains the equation of sliding-mode surface, wherein the selection of K value is considered closed-loop system square
The multiple real part Con-eigenvalue of the eigenvalue assignment larger absolute value in a pair of battle array, another characteristic value fit over -1 or so.
When the original state of main chaos system is x (0)=(- 0.3, -0.1, -0.1)T, chaos attractor such as Fig. 2 institute
Show, unanimously from the parameter matrix of chaos system (16) and main chaos system (30), when being y (0) from the original state of chaos system
=(0.15,0.15,0.15)T, chaos attractor brings into control law (24) as shown in figure 3, will obtain sliding-mode surface equation again,
The change curve of control law is as shown in figure 4, the synchronous error curve of Master-Slave Chaotic Systems is as shown in Figure 5.
In conclusion the Global robust Sliding mode synchronization control method that the present invention uses makes winner's chaos system and from chaos system
Connection is established between system, is reduced the conservative of system, is improved the safety of secret communication.
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system, which is characterized in that this method packet
Include following steps:
A, first against two with uncertain and Time-varying time-delays Master-Slave Chaotic Systems, one with uncertain and time-varying
As main chaos system, another is used as with uncertain and Time-varying time-delays chaos system from chaos the chaos system of time lag
System；
B, it is made the difference by the main chaos system in step A and from chaos system correspondence, obtains error system；
C, then designing suitable Global robust sliding formwork control face makes error system reach desired sliding mode: parameter adaptive
Rule and global sliding mode control law meet error system reaching condition, realize global sliding mode control；
D, finally parameter update law and Global robust sliding formwork control ratio are added in response system, control synchronous error levels off to
0, realize the Global robust Sliding mode synchronization control with uncertain and Time-varying time-delays chaos system.
2. a kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system according to claim 1,
It is characterized by: the difference of Master-Slave Chaotic Systems described in the step A is as follows:
Main chaos system is:
It is from chaos system:
Wherein, x (t) ∈ RnIt is the state vector of main chaos system (1), y (t) ∈ RnIt is the state vector from chaos system (2)；A
∈Rn×n, B ∈ Rn×mFor sequency spectrum matrix；ΔA1(t), Δ Ad(t) it is system parameter perturbation, meets Δ A1(t)=BE (t), Δ Ad
(t)=BEd(t), E and EdFor the matrix of appropriate dimension；And (A+Ad, B) and it is controllable pair, f ∈ RnExternal disturbance is represented, f is met
=BF, F (x, t) are the Jacobian matrix of appropriate dimension；τ(t)∈[h1,h2] it is unknown time-delay, there are determining bound, but its
Change rate is unknown；It is continuous initial function vector.
3. a kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system according to claim 2,
It is characterized in that, main chaos system further arranges are as follows:
Wherein, ω1(x, t)=B [E (t) x (t)+Ed(t)x(t-τ(t))+F(x,t)]；
It is further arranged from chaos system are as follows:
Wherein, ω1(y, t)=B [E (t) y (t)+Edy(t-τ(t))+F(y,t)]。
4. a kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system according to claim 2,
It is characterized in that, the step B specifically includes the following steps:
Define main chaos system (3) and from the error of chaos system (4) be e (t)=y (t)-x (t), obtain error system (5)
Are as follows:
Wherein, ω (e, t)=ω1(y,t)-ω1(x, t), and there are unknown normal number α1, α2Meet: | | ω (x, t) | |≤α1
+α2| | e (t) | |, | | | | 2 norms of representing matrix；
5. a kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system according to claim 1,
It is characterized in that, the step C specifically includes the following steps:
A, designing suitable global sliding mode control plane makes it reach desired sliding formwork dynamic, the global sliding mode face with integrated form
(6) it designs as follows:
Wherein, G ∈ Rm×nIt is nonsingular to meet GB, K ∈ Rm×nIt is constant matrices.For any known initial error e (0), Dou Nengman
Sufficient S (e (0), 0)=0, system is from the beginning on sliding-mode surface, to eliminate reaching mode；
B, suitable control law (7) is selected are as follows:
U (t)=- Ke (t)+udis(t) (7),
Wherein, discontinuous control law (8) are as follows:
Wherein,WithIt is α respectively1And α2Estimated value, ε is normal number；
C, parameter update law designs are as follows:
Wherein, parameter error is
6. a kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system according to claim 5,
It is characterized in that, the discontinuity of the sign function sign (S) in discontinuous control law (8), it is very serious to will cause sliding formwork shake,
WithSign function is replaced, wherein δ is the normal number of a very little, i.e., discontinuous control law becomes:
7. a kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system according to claim 3,
It is characterized in that, control law (10) and parameter update law (9) are added in from chaos system (4), error system (5) is in control law
(10) and under parameter update law (9) control level off to zero, then from chaos system (4) and main chaos system (3) realize it is progressive together
Step.
8. a kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system according to claim 1,
It is characterized in that, being provided with step E after the step D: progressive same to being realized from chaos system (4) and main chaos system (3)
It is verified after step.
9. a kind of Global robust Sliding mode synchronization control method of uncertain time_varying delay chaos system according to claim 8,
It is characterized in that, including construction Li Yapu to verifying is carried out after realizing Asymptotic Synchronization from chaos system (4) and main chaos system (3)
Promise husband's function is as follows:
The differential of function V are as follows:
It brings S (e (0), t) into, and brings parameter update law (9) into formula (12), can obtain:
Because | | S | |1>=| | S | |, so
As S ≠ 0, haveTherefore, being verified control law (10) and parameter update law (9) from chaos system makes from mixed
Ignorant system (4) and main chaos system (3) realize Asymptotic Synchronization.
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| CN113190865A (en) * | 2021-05-25 | 2021-07-30 | 华中科技大学 | Coupled chaotic system and application thereof |
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Application publication date: 20190308 |