Robust Chaos Synchronization for Chuas Circuits via Active Sliding Mode Control

Olfa Boubaker1, Rachid Dhifaoui2

National Institute of Applied Sciences and Technology, INSAT Centre Urbain Nord, BP 676 - 1080 Tunis, Tunisia 1 olfa.boubaker@insat.rnu.tn , 2 rachid.dhifaoui@insat.rnu.tn

Abstract. In this paper, we construct, in the presence of uncertainties and external disturbances, a robust active sliding controller to achieve master slave synchronization for Chuas circuit. The master circuit is considered as a nominal system whereas parameter uncertainties just affect the slave system. Using a Lyapunov approach and a reaching condition in the sliding surface, it will be shown that finite time synchronization can be guaranteed under an explicit relation between control parameters and the level of uncertainties. Numerical simulations are presented to estimate robustness of the sliding mode controllers.

Keywords: Chaos synchronization, Active Control, Sliding Mode Control, Robust Control, Chuas Circuit.

1 Introduction
Chaos theory is a current research area extensively investigated in many application fields including robotics, non smooth mechanical systems and nonlinear electrical circuits [1], [2]. Principally, Chaos synchronization [3] is the most important research field in this area. Synchronization implies that two systems which start from two different initial conditions are forced, using a control law, to have identical dynamics after some transitory time [4, 5]. Control and synchronization of chaos systems was investigated in many research papers using different control strategies approaches [6], [7], [8] and [9]. In this research area, the Chuas oscillator [10, 11], considered as the most famous electrical circuit to exemplify chaos [12, 13], was used to verify the efficiency of the most proposed approaches. In the other hand, active control approach [14], [15] is one of the most interesting control strategies for its simplicity. A generalized design of the active control strategy is developed in [16] while the adaptive design is investigated in [17]. The non-adaptive active control strategy is easy to design but cannot be adapted to cases with unknown parameters, whereas adaptive active control is more powerful in presence of unknown parameters however the controller is usually expensive and complex to implement. Since system parameters fluctuate in real experimental situations by internal and external factors [18], the active sliding mode control

strategy is a better alternative. Active sliding control is one of the most recent techniques used in chaos synchronization. It is renowned for its simple design and robustness in practical applications. Several recent results exist in this field; see for example [19] and [20]. However, in our best knowledge, active sliding mode control approach was never applied to synchronize Chuas circuits. The lack of results can be justified by the complexities of the dynamics introduced by the Chuas circuit designed by a piecewise linear system [21, 10] In this paper, we propose a new procedure to design a robust controller for master slave chaos synchronization for two modified Chua oscillators via active sliding mode control strategy. The master circuit is considered as a nominal system whereas parameter uncertainties affect the slave system. Using a Lyapunov approach and a reaching condition to the sliding surface and assuming some conditions on the uncertainties and noise magnitude, we will show that finite time synchronization can be guaranteed. The paper is organized as follows: The problem formulation will be exposed in the next section. In section 3, the design procedure of active sliding mode control is established for synchronizing two identical modified Chua oscillators with known parameters. Robust synchronization will be developed in section 4. In Section 5, simulation results will be finally presented to prove the robustness of the proposed approach.

2 Problem Formulation
Let consider the most famous electrical circuit to exemplify chaos: the Chuas circuit shown in Fig.1 with its well-known nonlinear Chua diode having the resistor R [11]. The Chua Circuit can be described by its modified model as [10]:
v

= + ( ) [| + 1| | 1|]) (1.b) = is the state vector and , , , are some constant parameters. where :

= + = + =

(1.a)

Fig. 1. Nonlinear Chua's circuit For a specific range of these parameters, it is shown that the modified Chua circuit model (1) can have a chaotic behavior [10]. In this case, all state variables are bounded.

Consider now, a master system described by the Chua nominal model (1) and a slave system described by the following uncertain model:

= + | + 1| | 1| (2.b) = is the state vector of the slave system, is the external perturbation and , , some internal perturbations. The objective of the synchronization problem is to design a control vector = such that chaos synchronization between systems (1) and (2) is achieved in a finite time. It is clear that the finite-time synchronization problem can be transformed into the equivalent problem of the finite-time stabilization of an error system. To solve the finite time synchronization problem, let define the error between the master and slave systems as follows: = (3) Therefore, subtracting (2) from (1), the error dynamics is obtained as follows: where :

= + + + + + (2.a) = + + = + +

= + y + + + + u (4) = + + u = + u Definition 1: The master system (1) and the slave system (2) are synchronized in a finite time if there exist a constant time = 0 such that: = 0 (5) and 0 if . The last problem will be solved under the following assumptions: A1: The uncertainties and are assumed to be unknown but constant in time and bounded such that: || || , A2: Parameters , , , are chosen such that the slave Chuas system model (1) has a chaotic behavior. Therefore, the state variables , and are all bounded. A3: In spite of uncertainties, slave Chuas system (2) must also have a chaotic behavior. Therefore, the state variables , and are all bounded. A4: The non linear uncertainty is bounded such that: A5: p is assumed to be a white noise: The external perturbation is then bounded such as: | | , , , , are some positive constants. +

3 Active sliding mode control synchronization

Active sliding mode control is a discontinuous control strategy which will be designed in two design stages. The first stage is to select an appropriate active controller in order to overcome the nonlinearities in the error dynamical model between the master and the slave systems. The second stage is to design a sliding mode controller to achieve the synchronization. In this section, design procedure of the active sliding mode controller is established for synchronizing two identical modified Chua oscillators with known parameters. The internal and external perturbations are then not considered here. So, the dynamical error system (4) can be written as: = + + = + + (6) = + 3.1. First stage: Active controller Design To overcome the nonlinearities in the error dynamical model (6), let define the active control vector as: = (7) and are respectively defined by : = (8) where: + 0 y = = 1 1 1 0 0 0 Substituting (7) in (6) we get: 0 0 = 0 0 0 0 For all constants , , > 0 , the error system (6) is asymptotically stable for the active control vector (7). where: 3.2. Second stage: Active sliding mode control design = (9)

Let, now, define the active sliding mode control vector as (7) where: + = (10) where = and is a bounded input scalar. Substituting (10) in (6) we get: = + = + (11) = + For = = = , the system (11) can be written as:

 = + (12) where is the identity matrix. Let now impose to the input vector to verify [22]: < 0 = (13) 0 where is a sliding surface defined by: = (14) where = . Furthermore, impose to the sliding surface to satisfy the reaching condition [23]: = (15) Substituting (12) in the derivative of (14), we obtain: e = C = + (16) Equating (15) to (16), we obtain the expression of the input vector such that: = (17) Theorem 1. For all scalars > 0 and > 0, the system (12) is finite time stable for the active sliding mode control (17) using the sliding surface (14) and its trajectories converge to the equilibrium 0 in a finite time. Proof: Impose to the error dynamics (12) to have a Lyapunov function: (18) = 0.5 The derivative of the Lyapunov function is then given by: = = (19) Using (16) and (17) in (19), the derivative of the Lyapunov function can be written as: = (20) Using (14), the derivative of the Lyapunov function is given by: = (21) For all scalar > 0 and > 0 we have always < 0 for 0. The computation of the reaching time can be made using the reaching condition (15).

4 Robust chaos synchronization

Theorem 2: If the assumptions A1 to A5 are fulfilled, the master system (1) and the slave system (2) are synchronized in a finite time for the control law: = (22) where : + 0 = 1 = 1 1 0 0 0 using the sliding surface defined by (14) whatever the constant vectors = , = and if there exist a positive definite scalar satisfying for all positive definite scalars r and q: | < |/ (23)

Proof: Impose to the error dynamics (4) to have the Lyapunov function (18). Using (14) and (17) for the error dynamics (4), the derivative function (19) can be written as: + + p 0 Using (14), the derivative of the Lyapunov function (24) is given by: = + or equivalently: = < 0 is always guaranteed if: < 0 > 0 > 0 < 0 or equivalently: | < |/|| where is some positive scalar constant satisfying: The constant can be computed using assumptions A1 to A5 . where: = = + (24)

(25)

(26) (27) (28) (29) (30)

5 Application
To prove the efficiency of the proposed approach, simulation results are conducted using the parameters , , , = 10, 18, 1.28, 0.69). For the nominal master system (1) and the uncertain slave system (2). Uncertainties in the slave Chuas circuit are fixed as : = 0.1 , = 0.1 , = 0.1 , | = |0.1. The chaotic dynamics of the modified Chua's circuit are shown by Fig.2 whereas the attractor is point up by Fig.3. Robust synchronization is achieved using the theorem 2 for the parameters: = 100 100 100 ; = 1 1 1 ; = 100; = 10 The error dynamics between master and slave systems are displayed by Fig.4 whereas the sliding surface is given by Fig.5. Simulation results prove that robust chaos synchronization is well achieved in a finite time.
5

0.8 0.6 0.4 0.2

x1(t)

0 -5

10

20

30

40

50 Time (s)

60

70

80

90

100

1 0 -1

x2(t)
0 10 20 30 40 50 Time (s) 60 70 80 90 100

x2(t)

0 -0.2 -0.4 -0.6 -0.8 -4

x3(t)

-5

10

20

30

40

50 Time (s)

60

70

80

90

100

-3

-2

-1

x1(t)

Fig.2. Chaotic dynamics of the Chua's circuit

Fig.3. Chua's circuit attractor

0.16
1

e1(t)

0.14
0 -1

0.12
0 0.2 0.4 0.6 0.8 1 1.2 Time (s) 1.4 1.6 1.8 2

0.1 sliding surface 0.08 0.06 0.04 0.02 0 -0.02

0.5

e2(t)

0 -0.5

0.2

0.4

0.6

0.8

1 1.2 Time (s)

1.4

1.6

1.8

0.5

e3(t)

-0.5

0.2

0.4

0.6

0.8

1 1.2 Time (s)

1.4

1.6

1.8

0.1

0.2

0.3

0.4

0.5 0.6 Time (s)

0.7

0.8

0.9

Fig.4. Error dynamics

Fig.5. Finite time reaching time

Furthermore, when comparing our approach to related works, we can confirm that the synchronization problem of the Chuas systems (1) and (2) cant be solved using the approaches proposed in [19] and [20].

6 Conclusion
Robust chaos synchronization problem is solved for master slave Chuas circuits using an active sliding mode control approach. An explicit relation between control parameters and the level of uncertainties was derived for which the robust controllers ensure finite time stabilization of error dynamics between the master and the slave Chuas circuits.

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