Abstract
This paper investigates the problem of cluster lag synchronization in the heterogeneous dynamical networks by using an intermittent pinning control strategy. Previous related works mainly focused on the time-varying delays in the self-dynamics, which was not consistent with the real world. The transmission delay in the communication channels is considered in this paper. We present several criteria to guarantee cluster lag synchronization without assuming the coupling matrix being symmetric and irreducible. A decentralized adaptive intermittent pinning control scheme is employed to reduce the control cost. An effective pinned-cluster selection scheme is adopted to guide what kind of clusters should be pinned preferentially. Two simulations are proposed to verify the correctness of the theoretical results.
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Acknowledgements
The work described in this paper was supported in part by the Special Financial Support from China Postdoctoral Science Foundation under Grant 2017T100670, in part by the China Postdoctoral Science Foundation under Grant 2016M590852, in part by the Special Financial Support from Chongqing Postdoctoral Science Foundation under Grant Xm2017100, in part by the National Natural Science Foundation of China under Grants 61773321, 61762020 and 61503050, in part by the Science and Technology Foundation of Guizhou under Grants. QKHJC20161076 and QKHJC20181083, in part by the Science and Technology Top-notch Talents Support Project of Colleges and Universities in Guizhou under Grant QJHKY2016065 and in part by the High-level Innovative Talents Project of Guizhou under Grant QRLF201621.
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Appendices
Appendix 1
1.1 Proof of Theorem 1
Let \(E\left( t \right) = \left( {E_{1}^{\rm T} \left( t \right),E_{2}^{\rm T} \left( t \right), \ldots ,E_{m}^{\rm T} \left( t \right)} \right)^{\rm T}\), where \(E_{1} \left( t \right) = \left( {e_{1,1}^{\rm T} \left( t \right), \ldots ,e_{{r_{1} ,1}}^{\rm T} \left( t \right)} \right)^{\rm T}\), \(E_{2} \left( t \right) = \left( {e_{{r_{1} + 1,2}}^{\rm T} \left( t \right), \ldots ,e_{{r_{1} + r_{2} ,2}}^{\rm T} \left( t \right)} \right)^{\rm T} , \ldots .E_{m} \left( t \right) = \left( {e_{{r_{1} + r_{2} + \cdots + r_{m - 1} + 1,m}}^{\rm T} \left( t \right), \ldots ,e_{N,m}^{\rm T} \left( t \right)} \right)^{\rm T} .\)
Construct a Lyapunov candidate as follows, where \(\otimes\) is defined as Kronecker product.
When \(t \in \left[ {\omega T,\left( {\omega + \theta } \right)T} \right)\), \(\omega = 0,1,2, \ldots\), the time derivative of \(W\left( t \right)\) along the trajectory of (9) at time \(t\) can be given as
In virtue of Assumption 2, we can get
Noticing that \(\sum\nolimits_{p = 1}^{m} {\sum\nolimits_{{i = C_{p} }} {b_{ij} } } = \sum\nolimits_{j = 1}^{N} {b_{ij} } = 0\), \(i = 1,2, \ldots ,N\) with \(\tilde{\varGamma } = \text{diag} \left( {\sqrt {\gamma_{1} } ,\sqrt {\gamma_{2} } , \ldots ,\sqrt {\gamma_{n} } } \right)\), one has
Substituting (29) and (30) into (28), we get
According to condition \(\left( \text{i} \right)\) and the properties of the Kronecker product of matrix [42], from (31), one has
Similarly, when \(t \in \left[ {\left( {\omega + \theta } \right)T,\left( {\omega + 1} \right)T} \right)\), \(\omega = 0,1,2, \ldots\), using condition \(\left( {\text{ii} } \right)\), we can deduce
As a result, we have
Next, we will prove that conditions (iii)–(iv) imply that, for \(t \ge 0\), we have \(\dot{W}\left( t \right) \le \left( {\mathop {\sup }\nolimits_{ - \tau \le s \le 0} W\left( s \right)} \right)e^{ - \varpi t}\).
Define \(\zeta \left( \lambda \right) = \lambda - p_{1} + qe^{\lambda \tau }\), where \(p_{1} > q > 0\) such that \(\zeta \left( 0 \right) < 0\), \(\zeta \left( { + \infty } \right) > 0\), \(\zeta^{\prime}\left( \lambda \right) > 0\). Utilizing the monotonicity and continuity of \(\zeta \left( \lambda \right)\), the equation \(\lambda - p_{1} + qe^{\lambda \tau } = 0\) has a unique positive solution \(\lambda > 0\). Let \(M_{0} = \mathop {\sup }\nolimits_{ - \tau \le s \le 0} W\left( s \right)\), \(V\left( t \right) = e^{\lambda t} W\left( t \right)\), \(t \ge 0\). Let \(S\left( t \right) = V\left( t \right) - hM_{0}\), where \(h > 1\) is a constant. Apparently, for any \(t \in \left[ { - \tau ,0} \right]\), one has
Then, we indicate for all \(t \in \left[ {0,\theta T} \right]\), that
From (33), there exist a \(t_{0} \in \left[ {0,\theta T} \right]\) such that
By (32), (35) and (36), we have
On the other hand, from (35) and (36), we have \(V\left( t \right) < hM_{0}\), \(- \tau \le t < t_{0}\) and \(V\left( {t_{0} } \right) = hM_{0}\). As a result, we get \(W\left( t \right) < hM_{0} e^{ - \lambda t}\), \(- \tau \le t < t_{0}\), it leads to \(\left( {\sup_{{t_{0} - \tau \le s \le t_{0} }} W\left( s \right)} \right) < e^{\lambda \tau } hM_{0} e^{{ - \lambda t_{0} }}\). This means \(e^{{\lambda t_{0} }} \left( {\sup_{{t_{0} - \tau \le s \le t_{0} }} W\left( s \right)} \right) < e^{\lambda \tau } hM_{0} = e^{\lambda \tau } V\left( {t_{0} } \right)\).
From (37), it can be deduced that \(\dot{S}\left( {t_{0} } \right) < \left( {\lambda - p_{1} + qe^{\lambda \tau } } \right)V\left( {t_{0} } \right) = 0\). This is a contradiction with inequality (35), thus, (34) is established. With (33), we get that
Let \(\vartheta = p_{1} + p_{2}\), for \(t \in \left[ {\theta T,T} \right)\), we have \(Q\left( t \right) = V\left( t \right) - hM_{0} e^{{\vartheta \left( {t - \theta T} \right)}} < 0\). Otherwise, there exist a \(t_{1} \in \left[ {\theta T,T} \right)\), such that
For \(\tau > 0\), according to (38)–(40), we always have
Then, one has \(\dot{Q}\left( {t_{1} } \right) < 0\), which is contradicts with (39). Thus, for \(t \in \left[ {\theta T,T} \right)\),
Similarly, we can prove
Through a mathematical induction, for any integer \(\omega = 0,1,2, \ldots\), we can derive the estimates of \(V\left( t \right)\) as
Let \(h \to 1\), from the definition of \(V\left( t \right)\), we have
Therefore, for the error dynamical system (9) the zero solution is globally exponentially stable. The proof of Theorem 1 is thus completed.
Appendix 2
2.1 Proof of Theorem 3
Construct a piecewise Lyapunov candidate function
where \(d_{k}^{ * } > 0\), \(k = 1,2, \ldots ,l\) are constants, and \(\varPi \left( \cdot \right)\) is a piecewise function defined as
Obviously, while \(\omega = 0,1,2, \ldots\), we have
With Assumptions 1 and 2, the time derivative of \(W\left( t \right)\) along the trajectory of (9) can be calculated as follows. When \(t \in \left[ {\omega T,\left( {\omega + \theta } \right)T} \right)\), \(\omega = 0,1,2, \ldots\), we have
where \(D^{ * }\) is a modified block diagonal matrix of \(D\) through replacing the principal-diagonal sub-matrices \(d_{k} I_{{r_{k} }}\) by \(\left( {e^{{ - p_{1} \theta T}} d_{k}^{ * } } \right)I_{{r_{k} }} ,k = 1,2, \ldots ,l\).
Set \(Q^{ * } = a_{1}^{0} I_{N} + cZ\), \(a_{1}^{0} I_{N} + cZ - cD^{ * } = Q^{ * } - cD^{ * } = \left( {\begin{array}{*{20}c} {G^{ * } - c\tilde{D}^{ * } } & 0 \\ {0^{\rm T} } & {Q_{r}^{ * } } \\ \end{array} } \right)\), where \(G^{ * } = \left( {\begin{array}{llll} {cZ_{11} + a_{1}^{0} I_{{r_{1} }} } & 0 & \cdots & 0 \\ 0 & {cZ_{22} + a_{1}^{0} I_{{r_{2} }} } & \cdots & 0 \\ \vdots & \vdots & \ddots & \vdots \\ 0 & 0 & \cdots & {cZ_{ll} + a_{1}^{0} I_{{r_{l} }} } \\ \end{array} } \right)\), \(\tilde{D}^{ * } = e^{{ - p_{1} \theta T}} \left( {\begin{array}{llll} {d_{1}^{ * } I_{{r_{1} }} } & 0 & \cdots & 0 \\ 0 & {d_{2}^{ * } I_{{r_{2} }} } & \cdots & 0 \\ \vdots & \vdots & \ddots & \vdots \\ 0 & 0 & \cdots & {d_{l}^{ * } I_{{r_{l} }} } \\ \end{array} } \right)\), and \(Q_{r}^{ * }\) is the minor matrix of \(Q^{ * }\) by removing its first \(\left( {r_{1} + r_{2} + \cdots + r_{l} } \right)\) row–column pairs. It is obviously that \(Q^{ * }\) is a real symmetric matrix. From the pinning condition \(\left( {{\text{i}}^{\prime \prime } } \right)\), we conclude that
This means \(Q_{r}^{ * } < 0\). As a result, for \(k = 1,2, \cdots ,l\), when \(d_{k}^{ * } > 0\) are large enough such that \(d_{k}^{ * } > \frac{{e^{{p_{1} \theta T}} \lambda_{\hbox{max} } \left( {G^{ * } } \right)}}{c}\). It is easy to get \(Q^{ * } - cD^{ * } < 0\). This follows Lemma 2 directly.
With (41), we can deduce that
In the same way, when \(t \in \left[ {\left( {\omega + \theta } \right)T,\left( {\omega + 1} \right)T} \right)\), \(\omega = 0,1,2, \ldots\), we obtain that
Namely,
Then, by a similar proof of Theorem 1, we can prove that condition (15) means
Therefore, the global cluster lag synchronization of the delayed dynamical network (6) under the adaptive intermittent pinned controllers (16)–(17) is realizable. The proof of Theorem 3 is thus completed.
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Yang, F., Li, H., Chen, G. et al. Cluster lag synchronization of delayed heterogeneous complex dynamical networks via intermittent pinning control. Neural Comput & Applic 31, 7945–7961 (2019). https://doi.org/10.1007/s00521-018-3618-7
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DOI: https://doi.org/10.1007/s00521-018-3618-7