Finite-time cluster synchronization of multi-weighted fractional-order coupled neural networks with and without impulsive effects

In this paper, finite-time cluster synchronization (FTCS) of multi-weighted fractional-order neural networks is studied. Firstly, a FTCS criterion of the considered neural networks is obtained by designing a new delayed state feedback controller. Secondly, a FTCS criterion for the considered neural networks with mixed impulsive effects is given by constructing a new piecewise controller, where both synchronizing and desynchronizing impulses are taken into account. It should be noted that it is the first time that finite-time cluster synchronization of multi-weighted neural networks has been investigated. Finally, numerical simulations are given to show the validity of the theoretical results.

Event-Based Intermittent Formation Control of Multi-UAV Systems Under Deception Attacks

This article investigates the problem of event-based intermittent formation control for multi-UAV systems subject to deception attacks. Compared to the available research studies on multi-UAV systems with continuous control strategy, the proposed intermittent control strategy saves a large amount of computation resources. An average method is introduced in developing the event-triggered mechanism (ETM) such that the amount of unexpected triggering events induced by uncertain disturbances is greatly reduced. Moreover, such a mechanism can further decrease the average data-releasing rate, thereby alleviating the burden of network bandwidth. Sufficient conditions for multi-UAV systems with deception attacks to achieve the predefined formation are obtained with the aid of Lyapunov stability theory. Finally, the validity of the proposed theoretical results is demonstrated via a simulation example.

Bounded Antisynchronization of Multiple Neural Networks via Multilevel Hybrid Control

The bounded antisynchronization (AS) problem of multiple discrete-time neural networks (NNs) based on the fuzzy model is studied, in consideration of the differences in quantity and communication among different NN groups, the variabilities of dynamics, and communication topological affected by environments. To reduce the energy consumption of communication, a cluster pinning communication mechanism is proposed, and an impulsive observer is designed to estimate the state of target NN. Then, a multilevel hybrid controller based on the impulsive observer is built including the AS controller and the bounded synchronization (BS) controller. Sufficient conditions for bounded AS are obtained by analyzing the stability of the BS augmented error (BSAE) and the AS augmented error (ASAE) based on the fuzzy-based Lyapunov functional (FBLF). Finally, a numerical example and an application example are given to verify the validity of the obtained results.

Observer-Based Event-Triggered Adaptive Control for Nonlinear Multiagent Systems With Unknown States and Disturbances

Based on radial basis function neural networks (RBF NNs) and backstepping techniques, this brief considers the consensus tracking problem for nonlinear semi-strict-feedback multiagent systems with unknown states and disturbances. The adaptive event-triggered control scheme is introduced to decrease the update times of the controller so as to save the limited communication resources. To detect the unknown state, external disturbance, and reduce calculation workload, the state observer and disturbance observer as well as the first-order filter are first jointly constructed. It is shown that all the output signals of followers can uniformly track the reference signal of the leader and all the error signals are uniformly bounded. A simulation example is carried out to further prove the effectiveness of the proposed control scheme.

Aperiodically intermittent event-triggered pinning control on cluster synchronization of directed complex networks

This paper is dedicated to investigating the exponential cluster synchronization in a class of nonlinearly coupled complex networks with non-identical nodes and an asymmetrical coupling matrix. A novel aperiodically intermittent pinning control (APIPC) protocol is presented, which takes full account of the cluster-tree topology structure of the networks and pins only the nodes in the current cluster that have directional links to neighboring clusters. Since it is difficult to precisely determine the intermittent control instants and rest instants of APIPC in advance, the event-triggered mechanism (ETM) is thus proposed. Based on the concept of the minimal control ratio and the segmentation analysis method, sufficient requirements for realizing the exponential cluster synchronization are derived. Moreover, the Zeno behavior of ETM is excluded by rigorous analysis. Eventually, the effectiveness and advantages of the established theorems and control strategies are demonstrated by two numerical simulations.

Cluster Synchronization Control for Discrete-Time Complex Dynamical Networks: When Data Transmission Meets Constrained Bit Rate

In this article, the cluster synchronization control problem is studied for discrete-time complex dynamical networks when the data transmission is subject to constrained bit rate. A bit-rate model is presented to quantify the limited network bandwidth, and the effects from the constrained bit rate onto the control performance of the cluster synchronization are evaluated. A sufficient condition is first proposed to guarantee the ultimate boundedness of the error dynamics of the cluster synchronization, and then, a bit-rate condition is established to reveal the fundamental relationship between the bit rate and the certain performance index of the cluster synchronization. Subsequently, two optimization problems are formulated to design the desired synchronization controllers with aim to achieve two distinct synchronization performance indices. The codesign issue for the bit-rate allocation protocol and the controller gains is further discussed to reduce the conservatism by locally minimizing a certain asymptotic upper bound of the synchronization error dynamics. Finally, three illustrative simulation examples are utilized to validate the feasibility and effectiveness of the developed synchronization control scheme.

p Components of Cluster-Lag Consensus for Second-Order Multiagent Systems With Adaptive Controller on Cooperative-Competitive Networks

The consensus tracking problem means that a group of followers tracks the desired trajectory with local communication. In this article, partial components of cluster consensus have been considered. In this scenario, the p components of the followers in different clusters track the leader at different lag times, while p components of each agent in the same cluster reach a consensus, which is called p components of cluster-lag (PCCL) consensus. By using a seminorm ||x_i||_2,p and a Lyapunov-Krasovskii functional, PCCL consensus for second-order multiagent systems with homogeneous nonlinear systems on cooperative-competitive networks has been considered. For the case that the communication network graph is undirected, a decentralized adaptive controller, which is based on the exchanged neighbors' information from the same cluster, is designed such that all the agents reach PCCL consensus. For the directed graph case, an adaptive protocol based on the intracoupling strength is constructed for each cluster to achieve PCCL consensus. Finally, two simulation examples are illustrated to show the effectiveness of the proposed control protocols.

Feedback Pinning Control of Successive Lag Synchronization on a Dynamical Network

In nature and human society, successive lag synchronization (SLS) is an important synchronization phenomenon. Compared with other synchronization patterns, the control theory of SLS is very lacking. To this end, we first introduce a complex dynamical network model with distributed delayed couplings, and design both the linear feedback pinning control and adaptive feedback pinning control to push SLS to the desired trajectories. Second, we obtain a series of sufficient conditions to achieve SLS to a desired trajectory with global stability. What is more, the control flow of SLS is given to show how to pick the pinned nodes accurately and set the feedback gains as well. Finally, since time-varying delay is common, we extend the constant time delay in SLS to be time varying. We find that the proposed pinning control schemes are still feasible if the coupling terms are appropriately adjusted. The theoretical results are verified on a neural network and the coupled Chua's circuits.

Switching cluster synchronization control of networked harmonic oscillators subject to denial-of-service attacks

This paper is concerned with the average cluster synchronization control problem of networked harmonic oscillators under denial-of-service (DoS) attacks. Different from some existing DoS attack models that often necessitate specific statistical characteristics, only the worse-case duration bound of the DoS attacks is required during the control design procedure, which represents the least a priori knowledge of realistic DoS attacks. Then, a novel switching cluster synchronization control scheme, which leverages a position-based feedback control protocol under a non-small delay and a position velocity-based feedback control protocol with a small delay, is developed such that the above two control protocols are selected based on the occurrence of the DoS attacks. Via formulating the resultant synchronization system as a switched time-delay system, a complete-type Lyapunov-Krasovskii functional (LKF) method is further proposed to establish sufficient controller design criteria associated with the duration and frequency of attacks for both synchronous and asynchronous DoS attacks among clusters. Furthermore, an iterative algorithm is designed to calculate the control gain matrices by solving a set of nonlinear matrix inequalities (NLMIs). Finally, a multi-vehicle cooperative control system is presented to demonstrate the validity of the proposed control scheme.

Mittag–Leffler Synchronization of Caputo-Delayed Quaternion BAM Neural Networks via Adaptive and Linear Feedback Control Designs

The Mittag–Leffler synchronization (MLS) issue for Caputo-delayed quaternion bidirectional associative memory neural networks (BAM-NNs) is studied in this paper. Firstly, a novel lemma is proved by the Laplace transform and inverse transform. Then, without decomposing a quaternion system into subsystems, the adaptive controller and the linear controller are designed to realize MLS. According to the proposed lemma, constructing two different Lyapunov functionals and applying the fractional Razumikhin theorem and inequality techniques, the sufficient criteria of MLS on fractional delayed quaternion BAM-NNs are derived. Finally, two numerical examples are given to illustrate the validity and practicability.

Semi-global cluster synchronization for nonlinear systems under fixed and switching topologies

In this paper, the cluster synchronization problem for heterogeneous nonlinear systems with input saturation is studied under both fixed and switching topologies. The distributed feedback controllers are first designed by low gain technique to deal with the input saturation. Sufficient conditions for reaching semi-global cluster synchronization are derived by utilizing the algebraic graph theory, Lyapunov method, and low gain technique. It is shown that the semi-global cluster synchronization problem can be solved by using the proposed synchronization protocols on some preconditions for both fixed and switching topologies. Moreover, under the switching topology, the lower bound of the total activation time for the derived topology with a directed spanning tree is explicitly specified. Finally, some examples are presented to demonstrate the effectiveness of the proposed theories.

Finite- and Fixed-Time Cluster Synchronization of Nonlinearly Coupled Delayed Neural Networks via Pinning Control

In this article, the cluster synchronization problem for a class of the nonlinearly coupled delayed neural networks (NNs) in both finite- and fixed-time cases are investigated. Based on the Lyapunov stability theory and pinning control strategy, some criteria are provided to ensure the cluster synchronization of the nonlinearly coupled delayed NNs in both finite-and fixed-time aspects. Then, the settling time for stabilization that is dependent on the initial value and independent of the initial value is estimated, respectively. Finally, we illustrate the feasibility and practicality of the results via a numerical example.

Cluster Consensus of Multiagent Systems With Weighted Antagonistic Interactions

This article addresses the problem of cluster consensus for multiagent systems (MASs) associated with weighted antagonistic interactions. Compared with some existing results, a general communication topology among agents is introduced in this article, where there is no need to confine directed cycles to the root of a spanning tree. By taking into consideration the structures of directed cycles and multiple paths, the judgment of structural balance is simplified significantly. A novel cluster consensus protocol is also proposed for structurally unbalanced digraphs. Moreover, two necessary and sufficient conditions are derived, by which cluster consensus can be achieved in an MAS if and only if its communication topology contains a directed spanning tree. Then, by employing an algebra theorem, a sufficient criterion for the unstable system under a directed cycle is obtained, whether the number of agents on this cycle is odd or even. Some illustrative examples are given to demonstrate the effectiveness of theoretical results.

Semiglobal Cluster Consensus for Heterogeneous Systems With Input Saturation

In this article, the semiglobal cluster consensus problem is investigated for heterogeneous generic linear systems with input saturation. A general case in a leaderless framework is studied first, and then in order to broaden the scope of application, we consider a special case in which the leader nodes are pinned intermittently. To tackle the above problems, we propose a linear control scheme by using the low-gain feedback technique under the assumptions that each node is asymptotically null controllable and the underlying topology of each cluster (the extended cluster under the intermittent pinning control) has a directed spanning tree. The Lyapunov-based method and the low-gain feedback technique are developed for convergence analysis. It is shown that for both cases, the convergence rate is explicitly specified, which depends on the low-gain parameter and system matrices. Finally, two numerical examples are provided to verify the effectiveness of the theoretical findings.

Event-Triggered Synchronization Strategy for Multiple Neural Networks With Time Delay

This paper deals with global exponential synchronization of multiple neural networks (NNs) with time delay via a very broad class of event-triggered coupling, in which coupling matrix can be non-Laplacian. Some simple and convenient sufficient conditions are derived to guarantee global exponential synchronization of the coupling NNs under an event-triggered strategy. In particular, the effect of the common subsystem can be positive or negative on the synchronization scheme. Three examples are presented to test the results in theory analysis.

Can we detect clusters of chaotic dynamical networks via causation entropy?

It is known that chaotic dynamical systems in the coupled networks can synchronize, and they can even form clusters. Our study addresses the issue of determining the membership information of continuous-time dynamical networks forming clusters. We observe the output vectors of individual systems in the networks and reconstruct the state space according to Takens' embedding theorem. Afterward, we estimate the information-theoretic measures in the reconstructed state space. We propose the average integrated causation entropy as a model-free distinctive measure to distinguish the clusters in the network using the k-means clustering algorithm. We have demonstrated the proposed procedure on three networks that contain Chua systems. The results indicate that we can determine the members of clusters and the membership information from the data, conclusively.

Effects of Subsystem and Coupling on Synchronization of Multiple Neural Networks With Delays via Impulsive Coupling

This paper from new perspectives discusses the global synchronization of multiple recurrent neural networks (MNNs) with time delays via impulsive coupling. A new concept (coupling strength) is introduced, it is a variable parameter and plays a key role on synchronization. The selection of coupling strength can bring more convenience to the design of the impulsive coupling controller. Four results are presented for the synchronization of MNNs with time delays by using impulsive coupling with the coupling gain and variable topology, where two results are dependent on topology and other two results are independent on topological connectivity. In our results, the effects of each NN, coupling topology, and coupling strength can be positive or negative role on synchronization. In addition, three examples are presented to test our results in the theory analysis.

Cluster Synchronization for Neutral Stochastic Delay Networks via Intermittent Adaptive Control

This paper studies the problem of cluster synchronization at exponential rates in both the mean square and almost sure senses for neutral stochastic coupled neural networks with time-varying delay via a periodically intermittent pinning adaptive control strategy. The network topology can be symmetric or asymmetric, with each network node being described by neutral stochastic delayed neural networks. When considering the exponential stabilization in the mean square sense for neutral stochastic delay system, the delay integral inequality approach is used to circumvent the obstacle arising from the coexistence of random disturbance, neutral item, and time-varying delay. The almost surely exponential stabilization is also analyzed with the nonnegative semimartingale convergence theorem. Sufficient criteria on cluster synchronization at exponential rates in both the mean square and almost sure senses of the underlying networks under the designed control scheme are derived. The effectiveness of the obtained theoretical results is illustrated by two examples.

Exponential Synchronization for Delayed Dynamical Networks via Intermittent Control: Dealing With Actuator Saturations

Over the past two decades, the synchronization problem for dynamical networks has drawn significant attention due to its clear practical insight in biological systems, social networks, and neuroscience. In the case where a dynamical network cannot achieve the synchronization by itself, the feedback controller should be added to drive the network toward a desired orbit. On the other hand, the time delays may often occur in the nodes or the couplings of a dynamical network, and the existence of time delays may induce some undesirable dynamics or even instability. Moreover, in the course of implementing a feedback controller, the inevitable actuator limitations could downgrade the system performance and, in the worst case, destabilize the closed-loop dynamics. The main purpose of this paper is to consider the synchronization problem for a class of delayed dynamical networks with actuator saturations. Each node of the dynamical network is described by a nonlinear system with a time-varying delay and the intermittent control strategy is proposed. By using a combination of novel sector conditions, piecewise Lyapunov-like functionals and the switched system approach, delay-dependent sufficient conditions are first obtained under which the dynamical network is locally exponentially synchronized. Then, the explicit characterization of the controller gains is established by means of the feasibility of certain matrix inequalities. Furthermore, optimization problems are formulated in order to acquire a larger estimate of the set of initial conditions for the evolution of the error dynamics when designing the intermittent controller. Finally, two examples are given to show the benefits and effectiveness of the developed theoretical results.

Avoiding Congestion in Cluster Consensus of the Second-Order Nonlinear Multiagent Systems

In order to avoid congestion in the second-order nonlinear leader-following multiagent systems over capacity-limited paths, an approach called cluster lag consensus is proposed, which means that the agents in different clusters will pass through the same positions with the same velocities but lag behind the leader at different times. Lyapunov functionals and matrix theory are applied to analyze such cluster lag consensus. It is shown that when the graphic roots of clusters are influenced by the leader and the intracoupling of cluster agents is larger than a threshold, the cluster lag consensus can be achieved. Furthermore, the cluster lag consensus with a time-varying communication topology is investigated. Finally, an illustrative example is presented to demonstrate the effectiveness of the theoretical results. In particular, when the physical sizes of the agents are taken into consideration, it is shown that with a rearrangement and a position transformation, the multiagent system will reach cluster lag consensus in the new coordinate system. This means that all agents in the same cluster will reach consensus on the velocity, but their positions may be different and yet their relative positions converge to a constant asymptotically.

Cluster Synchronization for Interacting Clusters of Nonidentical Nodes via Intermittent Pinning Control

The cluster synchronization problem is investigated using intermittent pinning control for the interacting clusters of nonidentical nodes that may represent either general linear systems or nonlinear oscillators. These nodes communicate over general network topology, and the nodes from different clusters are governed by different self-dynamics. A unified convergence analysis is provided to analyze the synchronization via intermittent pinning controllers. It is observed that the nodes in different clusters synchronize to the given patterns if a directed spanning tree exists in the underlying topology of every extended cluster (which consists of the original cluster of nodes as well as their pinning node) and one algebraic condition holds. Structural conditions are then derived to guarantee such an algebraic condition. That is: 1) if the intracluster couplings are with sufficiently strong strength and the pinning controller is with sufficiently long execution time in every period, then the algebraic condition for general linear systems is warranted and 2) if every cluster is with the sufficiently strong intracluster coupling strength, then the pinning controller for nonlinear oscillators can have its execution time to be arbitrarily short. The lower bounds are explicitly derived both for these coupling strengths and the execution time of the pinning controller in every period. In addition, in regard to the above-mentioned structural conditions for nonlinear systems, an adaptive law is further introduced to adapt the intracluster coupling strength, such that the cluster synchronization for nonlinear systems is achieved.

Impulsive Effects on Quasi-Synchronization of Neural Networks With Parameter Mismatches and Time-Varying Delay

This paper is concerned with the exponential synchronization issue of nonidentically coupled neural networks with time-varying delay. Due to the parameter mismatch phenomena existed in neural networks, the problem of quasi-synchronization is thus discussed by applying some impulsive control strategies. Based on the definition of average impulsive interval and the extended comparison principle for impulsive systems, some criteria for achieving the quasi-synchronization of neural networks are derived. More extensive ranges of impulsive effects are discussed so that impulse could either play an effective role or play an adverse role in the final network synchronization. In addition, according to the extended formula for the variation of parameters with time-varying delay, precisely exponential convergence rates and quasi-synchronization errors are obtained, respectively, in view of different types impulsive effects. Finally, some numerical simulations with different types of impulsive effects are presented to illustrate the effectiveness of theoretical analysis.

Finite-Time and Fixed-Time Cluster Synchronization With or Without Pinning Control

In this paper, the finite-time and fixed-time cluster synchronization problem for complex networks with or without pinning control are discussed. Finite-time (or fixed-time) synchronization has been a hot topic in recent years, which means that the network can achieve synchronization in finite-time, and the settling time depends on the initial values for finite-time synchronization (or the settling time is bounded by a constant for any initial values for fixed-time synchronization). To realize the finite-time and fixed-time cluster synchronization, some simple distributed protocols with or without pinning control are designed and the effectiveness is rigorously proved. Several sufficient criteria are also obtained to clarify the effects of coupling terms for finite-time and fixed-time cluster synchronization. Especially, when the cluster number is one, the cluster synchronization becomes the complete synchronization problem; when the network has only one node, the coupling term between nodes will disappear, and the synchronization problem becomes the simplest master-slave case, which also includes the stability problem for nonlinear systems like neural networks. All these cases are also discussed. Finally, numerical simulations are presented to demonstrate the correctness of obtained theoretical results.

On Group Synchronization for Interacting Clusters of Heterogeneous Systems

This paper investigates group synchronization for multiple interacting clusters of nonidentical systems that are linearly or nonlinearly coupled. By observing the structure of the coupling topology, a Lyapunov function-based approach is proposed to deal with the case of linear systems which are linearly coupled in the framework of directed topology. Such an analysis is then further extended to tackle the case of nonlinear systems in a similar framework. Moreover, the case of nonlinear systems which are nonlinearly coupled is also addressed, however, in the framework of undirected coupling topology. For all these cases, a consistent conclusion is made that group synchronization can be achieved if the coupling topology for each cluster satisfies certain connectivity condition and further, the intra-cluster coupling strengths are sufficiently strong. Both the lower bound for the intra-cluster coupling strength as well as the convergence rate are explicitly specified.

Global Synchronization of Multiple Recurrent Neural Networks With Time Delays via Impulsive Interactions

In this paper, new results on the global synchronization of multiple recurrent neural networks (NNs) with time delays via impulsive interactions are presented. Impulsive interaction means that a number of NNs communicate with each other at impulse instants only, while they are independent at the remaining time. The communication topology among NNs is not required to be always connected and can switch ON and OFF at different impulse instants. By using the concept of sequential connectivity and the properties of stochastic matrices, a set of sufficient conditions depending on time delays is derived to ascertain global synchronization of multiple continuous-time recurrent NNs. In addition, a counterpart on the global synchronization of multiple discrete-time NNs is also discussed. Finally, two examples are presented to illustrate the results.

Cluster Synchronization on Multiple Nonlinearly Coupled Dynamical Subnetworks of Complex Networks With Nonidentical Nodes

In this paper, cluster synchronization on multiple nonlinearly coupled dynamical subnetworks of complex networks with nonidentical nodes and stochastic perturbations is studied. Based on the general leader-follower's model, an improved network structure model that consists of multiple pairs of matching subnetworks, each of which includes a leaders' subnetwork and a followers' subnetwork, is proposed. Moreover, the dynamical behaviors of the nodes belonging to the same pair of matching subnetworks are identical, while the ones belonging to different pairs of unmatched subnetworks are nonidentical. In this new setting, the aim is to design some suitable adaptive pinning controllers on the chosen nodes of each followers' subnetwork, such that the nodes in each subnetwork can be exponentially synchronized onto their reference state. Then, some cluster synchronization criteria for multiple nonlinearly coupled dynamical subnetworks of complex networks are established, and a pinning control scheme that the nodes with very large or low degrees are good candidates for applying pinning controllers is presented. Suitable adaptive update laws are used to deal with the unknown feedback gains between the pinned nodes and their leaders. Finally, several numerical simulations are given to demonstrate the effectiveness and applicability of the proposed approach.

Synchronization criteria for generalized reaction-diffusion neural networks via periodically intermittent control

In this paper, the synchronization problem for a class of generalized neural networks with time-varying delays and reaction-diffusion terms is investigated concerning Neumann boundary conditions in terms of p-norm. The proposed generalized neural networks model includes reaction-diffusion local field neural networks and reaction-diffusion static neural networks as its special cases. By establishing a new inequality, some simple and useful conditions are obtained analytically to guarantee the global exponential synchronization of the addressed neural networks under the periodically intermittent control. According to the theoretical results, the influences of diffusion coefficients, diffusion space, and control rate on synchronization are analyzed. Finally, the feasibility and effectiveness of the proposed methods are shown by simulation examples, and by choosing different diffusion coefficients, diffusion spaces, and control rates, different controlled synchronization states can be obtained.