Accepted Manuscript

Globally Exponential Synchronization for Dynamical Networks with

Discrete-Time Communications

Haoyi Que, Zheng-Guang Wu, Hongye Su

PII: S0016-0032(17)30429-5
DOI: 10.1016/j.jfranklin.2017.08.035
Reference: FI 3118

To appear in: Journal of the Franklin Institute

Received date: 21 March 2017

Revised date: 29 June 2017
Accepted date: 27 August 2017

Please cite this article as: Haoyi Que, Zheng-Guang Wu, Hongye Su, Globally Exponential Synchro-
nization for Dynamical Networks with Discrete-Time Communications, Journal of the Franklin Institute
(2017), doi: 10.1016/j.jfranklin.2017.08.035

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 ACCEPTED MANUSCRIPT
Globally Exponential Synchronization for
Dynamical Networks with Discrete-Time
Communications
Haoyi Que, Zheng-Guang Wu, and Hongye Su
AbstractWe present a new synchronization criterion in
discrete-time communications for CDNs(complex dynamical net-
works) in this paper, which global exponential convergence is
achieved. Between every two different nodes, the communica-
tions are discrete-time, at the same time between each two
of the communication instants, the intervals are time-varying
and assumed to be bounded. We use time-dependent Lyapunov
functional approach to give globally exponential conditions under
the criterion for synchronization of CDNs, with less conservatism
and decision variables compared with some other existing results,
such that the available information could be take full advantage
of in the actual discrete-time communication pattern. Some
simulations results are given at the end to show the effectiveness.
Index TermsComplex dynamical networks, discrete-time
communication, globally exponential synchronization, sampled-
US
AN
data system
I. I NTRODUCTION
Complex dynamical networks (CDNs) could be established
M
in many natural system models. Such as the Internet, food
webs, citation network, and power grids, etc. Therefore CDNs
have attracted a lot of researchers attention [1]. In the past
ED
decade, synchronization, as one of the basic and significant
characteristics of CDNs, due to the physics and potential
engineering applications, continued to be active, and thus
fruitful results have been reported in this field, e.g., [2][16] to
PT
name a few. Sampled-data control/filtering problem, as another
research frontier, still remains open and reports numerous
results. For example, [17][23] and the references therein.
With the bloom of computer science, faster calculation speed
CE
require each sensors signal, which would be transferred by the
controllers/filters for processing , should be sampled at first.
In general, digital devices only adopt received signals sample-
data at discrete time instants. Recently, there are extensive
AC
studies on sampled-data control problem for complex systems
( [24], [25] and the references therein). Different from CDNs
in [26] which is continuous-time, communication model based
on sampled-data control techniques in discrete-time situation,
has been introduced. Between each two of the communication
instants, the intervals are time-varying and assumed to be
bounded. Time-dependent Lyapunov functional approach has
This work was partially supported by the National Natural Science Foun-
dation of China (61174029, 61174058, 61573322), the National Key Basic
Research Program, China (2012CB215202), and the 111 Project (B12018).
Haoyi Que Z.-G. Wu and H. Su are with the National Laboratory of Indus-
trial Control Technology, Institute of Cyber-Systems and Control, Zhejiang
University, Yuquan Campus, Hangzhou Zhejiang, 310027, PR China (e-mail:
fatqcrab@163.com;nashwzhg@gmail.com;hysu@iipc.zju.edu.cn).
T
been used to derive an upper bound for communication inter-
vals in synchronization criterion, which could be considered as
IP
a pioneer in linear systems [18] to investigate the sampled-data
control, at the same time improved [19].
Regrettably, with some useful terms neglecting in the
CR
employed Lyapunov functional, we found that the available
information for actual discrete-time communication pattern
has not been fully applied in [26]. Besides, the free-weighting
matrix method learning from [27], it is naturally used in the
conditions of [26]. However, rather than reducing the conser-
vatism, some of them not only complex the synchronization
criteria, but also make a higher demand on computation. Thus,
it is important and necessary for further study that the problem
of synchronization CDNs under discrete-time communications
should achieve a less conservative synchronization criterion
and less decision variables, which also motivates the current
work in this paper.
We revisit the synchronization problem for CDNs with
discrete-time communications in this paper, using time-
dependent Lyapunov functional approach, such that the avail-
able information could be take full advantage of in the actual
discrete-time communication pattern. The criterion given in
this paper decreases the number of decision variables com-
pared with [26], meanwhile has less conservatism. Numerical
examples and correspondent simulations are provided to show
effectiveness of the theoretic results.
II. P RELIMINARIES
Consider a discrete-time CDN, which consists N identical
nodes from [26]:
N
X
xi (t) = Axi (t) + f(xi (t), t) + c gij xj (tk )
j=1
t [tk , tk+1 ), i = 1, 2, . . . , N (1)
where tk satisfy
0 = t0 < t1 < < tk < < lim tk = +
k+
k = 0, 1, 2, . . . (2)
are the communication instants. N is the number of nodes.
f : Rn R+ Rn is a nonlinear vector-valued function.
T
xi (t) = [xi1 (t), xi2 (t), . . . , xin (t)] Rn is the state vector
of node i. c is the coupling strength which is always a constant.
is a inner-coupling matrix of appropriate dimensions. G =
(gij )N N is the coupling configuration matrix, where gij > 0
 ACCEPTED MANUSCRIPT

represents different two node i and j P is connected, otherwise 0 0 0 0
N 1
without connection gij = 0. gii = j=1,j6=i gij define the 0 0 0

diagonal elements in G. Besides, , G and A are constant ..
0 1 0 .
matrices.
The distance that we mentioned in this paper, which =
.. .. RN (N 1)

0 0 . . 0
is between any two consecutive communication instants, is
. ..
assumed to be bounded. Specifically, it is assumed that .. . 1 0
tk+1 tk = hk 6 h, k 0, where h is the a allowable
0 0 0 1
communication interval and is a positive scalar.
Let
III. M AIN R ESULTS
x1 (t) f (x1 (t))
" 1: For
Theorem # a given scalar h, if there exist matrices

T
x (t) f(x (t))
2 2 U1 U2  
x(t) =
..
RN n , g(t) =
..
RN n (3)
P > 0, > 0, X, X1 , H = H1 H2 H3 , and a

IP
. . U3
xN (t) f(xN (t)) diagonal matrix > 0, under the Assumption 1 we have

X + XT

CR
Therefore (1) could be shown as P + h + U 1 hX + hX 1 U1 U 2
2

x(t) = (IN A)x(t) + g(t) + c(G )x(tk ), t [tk , tk+1 ) U 2 >0
(4) U3
(8)
We introduce the following definition for CDN (1).
Definition 1 [3]: CDN (1) is said to be globally exponen-
tially synchronized if there exist constants and > 0, such US
that for any initial values xi (0) (i = 1, 2, . . . , N ) and sufficient

11

1 =
12
22
13
H2T
<0

(9)
AN
large T > 0, then 33
||xi (t) xj (t)|| 6 et (5)
11 12 13 hH1T
holds for all t > T and any i, j = 1, 2, . . . , N .
22 H2T hH2T
M

An important merit of discrete-time communication for 2 = <0 (10)

CDNs is that unless at discrete-time instants , for the state 33 hU3 hH3T

variables of nodes, xi (tk ) are needed, therefore greatly reduces hU1
the amount of transmitted synchronization information and
ED

increases the usage of bandwidth effciency. In this paper, our

11 + 11 12 + 12 13 + 13
aim is to build a new condition, which is sufficient such that
22 + hU1 H2T + 23
CDN (1) is globally exponentially synchronized with a larger 3 = < 0 (11)
allowable communication interval h, which corresponds to the 33 + 33
PT

lower synchronization cost.

The following assumption and lemma are needed through where
this paper. X + XT
11 = P (IN 1 A) + (IN 1 A)T P
Assumption 1 [26]: There exists a diagonal matrix > 0 2
CE

and then the nonlinear part of the node system satisfies the + ( In )(IN 1 ) + (IN 1 )( In )
following condition: + H1 + H1T
(f(x1 , t)f(x2 , t)) (f(x1 , t)f(x2 , t)) 6 (x1 x2 ) (x1 x2 ) 12
T T = P + H2
AC

(6) 13 = cP M (G ) U2 + X X1 + H3 H1T
Lemma 1 [26]: G RN N is a matrix that satisfy the same = 2( In )
22
sum for each row. The following equation holds:
X + XT
33 = U2 + U2T + X1 + X1T H3 H3T
M G = M GM (7) 2
X + XT X + XT
where 11 =h (IN 1 A) + h(IN 1 A)T
2 2
1 1 0 0 + h(IN 1 A)T U1 (IN 1 A)
1 0 1 0 0
X + XT
12 = h + h(IN 1 A)T U1
. .. .. 2
M = .. . . R(N 1)N
X + XT
1 0 0 1 0 13 = h(IN 1 A)T U2 + ch M (G )
2
T
1 0 0 1 + h(IN 1 A) (X + X1 )
 ACCEPTED MANUSCRIPT

+ ch(IN 1 A)T U1 M (G ) Meanwhile,

23 = hU2 hX + hX1 + chU1 M (G ) V (t) > V1 (t) + V3 (t)
33 = hU3 + chU2T M (G ) + ch(G )T M T U2 Zt
+ ch(X + T
X1T )M (G ) + (tk+1 t) y(s)T (U1 U2 U31 U2T )y(s) ds
T T
+ ch(G ) M (X + X1 ) tk
" #T " #
2 T T
+ c h(G ) M U1 M (G ) y(t) y(t)
> y(t) P y(t) + (tk+1 t)
T
(H + U)
X + XT y(tk ) y(tk )
= hX1 hX1T +h + U1
2 (16)
M = M In
where
" #

T
1
Then CDN (1) is globally exponentially synchronized. 1 U1 U2 U3 U2T U1 + U2 U31 U2T
U= (17)
Proof 1: Choose a scalar > 0 small enough, then h U1 U2 U31 U2T

IP
3 (h) = And jensens inequality is applied, hence,
" # " #

CR
11 + 11 12 + 12 13 + 13 y(t) y(t)


V (t) > (18)
22 + h(U1 + I) H2T + 23
< 0 (12) y(tk ) y(tk )
33 + 33 where
" #
where

and denote
ij = ij |U1 =U1 +I US =
t k+1

Meanwhile,
hk
t
( + hk (H + U)) +
t
hk
t k
, =
P
0
0
0
AN
hk h hk
x1 (t) x2 (t) + hk (H + U) = ( + h(H + U)) + (19)
x (t) x (t) h h
1 3
y(t) =
.

(13) Learning from (8), we could use Schur complement to get
.
.
M

+ h(H + U) > 0 (20)

x1 (t) xN (t)
P > 0 and (20) is applied, we could alway find > 0 which is
which implies y(t) = M x(t). Based on Lemma 1, we get
a sufficiently small scalar, such that exists +h(H+U) > I.
ED

Then we get
y(t) = (IN 1 A)y(t) + f (t) + cM (G )y(tk )
t [tk , tk+1 ) (14) V (t) > ||y(t)||2 (21)

where f (t) = M g(t).For system (14), Consider the following Now we get V (t) is an available Lyapunov function for
PT

Lyapunov functional: system (14) from the definition (15). Then comes the following
derivative equality and inequality:
V (t) = V1 (t) + V2 (t) + V3 (t), t [tk , tk+1 ) (15)
V1 (t) = 2y(t)T P y(t)
CE

where = 2y(t)T P (IN 1 A)y(t) + 2y(t)T P f (t)

+ 2cy(t)T P M (G )y(tk ) (22)
V1 (t) = y(t)T P y(t)
Zt " #T " #" #
AC

y(s) U1 + I U2 y(s) V2 (t)

V2 (t) = (tk+1 t) ds
y(tk ) U3 y(tk ) Zt " #T " #" #
tk y(s) U1 + I U2 y(s)
" #T " # = ds
y(t) y(t) y(tk ) U3 y(tk )
V3 (t) = (tk+1 t) H tk
y(tk ) y(tk ) " #T " #" #
y(t) U1 + I U2 y(t)
X + XT + (tk+1 t)
X + X y(tk ) U3 y(tk )
2
1
H= Zt
T X + XT
X1 X1 +
2 6 y(s)T U1 y(s) ds 2y(tk )T U2T (y(t) y(tk ))
tk
It is noted that V2 (t) vanish before tk and so does V3 (t) after
tk . Such that we get limttk V (t) = V (tk ), Hence V (t) is (t tk )y(tk )T U3 y(tk ) + (tk+1 t)y(tk )T U3 y(tk )
continuous. + 2(tk+1 t)y(tk )T U2T (IN 1 A)y(t)
 ACCEPTED MANUSCRIPT

Zt Hence, from (22)-(24), (26) and (27), for t [tk , tk+1 ), we

T
+ 2(tk+1 t)y(tk ) U2T f (t) ||y(s)||2 ds have
tk
T V (t)
+ 2c(tk+1 t)y(tk ) U2T M (G )y(tk )
6 V1 (t) + V2 (t) + V3 (t)
+ (tk+1 t)(t)T T (U1 + I)(t) (23)
+ 2y(t)T ( In )(IN 1 )y(t) 2f (t)( In )f (t)
where  
T tk+1 t t tk
T 6 (t) 3 (hk ) + (hk ) (t)
y(t) (IN 1 A)T hk hk
Zt
(t) = f (t) , = I
y(tk ) T
c(G ) M T ||y(s)||2 ds (28)
tk

T
and
where
V3 (t)

IP
" #T " # 11 12 13
y(t) y(t) 22 H2T
= H (hk ) =
y(tk ) y(tk )

CR

33 hk U3
" #T " # T T T
y(t) y(t) H1 H1
+ 2(tk+1 t) H
y(tk ) 0 H T 1 H T
+ hk 2 U3 2
" #T " #
H3T H3T
=
y(t)
y(tk )

+ 2(tk+1 t)y(t)T
H

X +X
y(t)
y(tk )

(IN 1 A)y(t)
T
US On the other hand, it can be shown that

3 (hk ) =
hk
3 (h) +
h hk
1 (29)
AN
2 h h
T
X +X and
+ 2(tk+1 t)y(t)T f (t) hk h hk
2 (hk ) =
(h) + 1 (30)
X +X T h h
+ 2c(tk+1 t)y(t)T M (G )y(tk )
2 Also from Schur complement and inequality (10), we have
M

+ 2(tk+1 t)y(tk ) (X + X1T )(IN 1 A)y(t)

T T
(h) < 0 (31)
+ 2(tk+1 t)y(tk )T (X T + X1T )f (t)
holds. From (9), (11) and (31), it can be found that there exists
+ 2c(tk+1 t)y(tk )T (X T + X1T )M (G )y(tk )
ED

a scalar  > 0 such that

(24)
1 < I, 3 (h) < I, (h) < I (32)
For any matrix H with appropriate dimensions, applying
free-weighting matrix approach from [27], we would have which implies
inequality as follows:
PT

Zt
V (t) 6 ||y(t)||2 ||y(tk )||2 ||y(s)||2 ds (33)
Zt " #T " #" #
(t) H T U11 H H T (t) tk
ds > 0 (25)
CE

y(s) U1 y(s) Also, we can get from (15) that

tk
" # " #
where y(t) y(t)
" # V1 (t) + V3 (t) = (34)
H T U11 H HT y(tk ) y(tk )
AC

>0
U1 where
tk+1 t t tk
From (25), we can immediately have that = ( + hk H) +
hk hk
Zt
And
y(s)T U1 y(s) ds 6 (t tk )(t)T H T U11 H(t)
hk h hk
tk + hk H = ( + hH) +
h h
+ 2(t)T H T (y(t) y(tk )) (26) hk h hk
6 ( + hH + U ) + (35)
Furthermore, by Assumption 1, for a diagonal matrix > 0, h h
the following inequality holds where
" #
U1 U1
2y(t) ( In )(IN 1 )y(t) 2f (t)( In )f (t) > 0
T
U = >0
(27) U1
 ACCEPTED MANUSCRIPT

From (8), there exists a scalar 1 > 0 holds discrete-time communication pattern, which implies Theorem
1 proposed here is less conservative than that of [26].
+ hH + U < 1 I, P < 1 I (36) Remark 4: It should be pointed out that the total number of
scalar decision variables involved in [26] is 15m2 +2m+N 1,
Thus,
where m = (N 1)n, while the conditions in Theorem 1
V1 (t) + V3 (t) < 1 ||y(t)||2 + 1 ||y(tk )||2 (37) have only 7.5m2 + 1.5m + N 1 scalar decision variables.
More decision variables for granted increase the computational
Furthermore, another scalar 2 > 0 exists, accordingly burden. Surely our results would cost less time compared with
Zt [26] under the same condition. Especially with the increasing
of the number of nodes N and the dimensions of isolated node
V2 (t) < 2 ||y(s)||2 ds + 2 ||y(tk )||2 (38)
n, the computational superiority of our results becomes more
tk obvious.

T
> 0 is sufficiently small that we have
IV. N UMERICAL E XAMPLES AND S IMULATIONS

IP
1  6 0, 1 + 2  6 0, 2 6 0 (39) We choose Chuas circuit here, which could be considered
as the isolated nodes of the dynamical network.Then the
Then
following model holds:

CR

V (t) + V (t) 6 0 (40)
x1 = 1 (x1 + x2 u(x1 ))

For t [tk , tk+1 ), integrating (40) holds x2 = x1 x2 + x3


x3 = 2 x2
V (t) 6 e(ttk ) V (tk ) 6 e(ttk1 ) V (tk1 )
6 6 et V (0) = et y(0)T P y(0)
which combining (21) further implies that
US
(41)
where 1 = 10, 2 = 14.87, and u(x1 ) = 0.68x1 +
0.5(1.27 + 0.68)(|x1 + 1| |x1 1|). With initial condition
[0.7, 0.1, 0.05], the state trajectory could be shown in Fig.1.
AN
||y(t)||2 6 V (t) = O(et ) (42)
5
Thus, the globally exponential synchronization of CDN (1) is
achieved. Proof ends. 0
x3
M

Remark 1: A novel exponential synchronization criterion is

established in Theorem 1 for CDN (1), which is formulated by -5
linear matrix inequalities (LMIs) including Kronecker product. 1

Something important should be illustrated is that the matrices 0.5

ED

A and G are embedded on the proposed LMIs, but from 0

4
3
computational point view, all the required matrices can be -0.5
-1 0 1 2
x2 -1 -2
verified (if a solution exists), and solved by some standard -4 -3
x1

optimization algorithms, such as LMI approach.

PT

Remark 2: To obtain the allowable communication interval

h therefore ensure the globally exponential synchronization of Fig. 1. Trajectory of Chuas circuit
CDN (1), following one-dimensional search algorithm could Obtaining that f (x) = [1 u(x1 ) 0 0]T , =
be apllied: diag{12.72 , 0, 0}. And we have
CE

Step 1: Give a small enough h > 0 such that LMIs (8)-(11)

are feasible, and let h0 = h. 10 10 0

Step 2: Let h = h + h, where h > 0, and solve LMIs A= 1 1 1
(8)-(11). 0 14.87 0
AC

Step 3: If LMIs (8)-(11) are feasible, then let h0 = h, and

go back to Step 2. Otherwise, go to Step 4. In this example, the inner coupling matrix = I. We first
show the application of our result in directed networks and
Step 4: Output h0 is the allowable communication interval
take the coupling configuration matrix
h ensuring the globally exponential synchronization of CDN
(1). 6 1 2 3
Remark 3: Pay attention to (tk , tk+1 )-dependent terms 4 15 5 6

V2 (t) and V3 (t), which are introduced in the employed G=
5 0 5 0
Lyapunov
Rt functional (15). However,
Rt the terms 2(tk+1
t) tk y(s)U2 y(tk ) ds, (tk+1 t) tk y(tk )U3 y(tk ) ds and V3 (t) 6 0 0 6
are ignored in [26], therefore the conservatism of the given And the topology could be shown in Fig.2.
results increases inevitably. Then, compared with [26], Lya- Applying the algorithm with initial h = 0.001 and h =
punov functional we proposed in the papar is more general 0.001 given in Remark 2, the allowable communication inter-
and desirable, and more available information about the actual vals h for various coupling strength c derived by Theorem
 ACCEPTED MANUSCRIPT

2.5

Synchronization error
1.5

0.5

T
IP
0
0 1 2 3 4 5 6
Time(s)

CR
Fig. 2. Complex network topology Fig. 4. Synchronization error with topology in Fig.2

TABLE I
1 and the method in [26] are listed in Table I. Obtaining A LLOWABLE COMMUNICATION INTERVALS h
the trajectories of all the states with c = 1.53 tend to be
synchronized in Fig. 3.
US c
[26]
Theorem 1
1.53
0.008
0.025
1.55
0.014
0.044
2.00 3.00
0.045 0.033
0.052 0.037
TABLE II
4.00
0.026
0.029
5.00
0.022
0.024
AN
2

0
A LLOWABLE COMMUNICATION INTERVALS h
x1

-2
0 0.5 1 1.5 2 2.5 3 3.5 c 2.15 2.20 3.00 4.00 5.00 6.00
Time(s) [26] 0.025 0.030 0.060 0.063 0.058 0.053
0.5 Theorem 1 0.071 0.082 0.104 0.087 0.074 0.064
0
x2

-0.5
0 0.5 1 1.5 2 2.5 3 3.5

2
Time(s)
Theorem 1 only involves 624 decision variables. Thus, our
0
criterion uses much less decision variables, but this is not at the
x3

expense of decreasing the allowable bound of communication

ED

-2
0 0.5 1 1.5 2 2.5 3 3.5
Time(s) intervals, that is, compared with [26], Theorem 1 derived here
not only has less conservatism, but also has computational
Fig. 3. Trajectories of the state of complex network
advantages.
Remark 5: It should be pointed out that when the algorithm
PT

Cosidering synchronization error as proposed in Remark 2 is applied, a more accurate allowable

communication interval h can be obtained by choosing the
E(t) = ky(t)k smaller initial h and h. For this example, we choose initial
CE

h = 0.001 and h = 0.001, which is enough to get the

Then we get the results in Fig. 4. Obvious its exponential
allowable communication intervals h to show the effectiveness
sychronization.
and advantage over [26].
Next we consider the following coupling configuration
matrix
AC

3 1 1 1
1 3 1 1 The problem of globally exponential synchronization for
G=
1 1 3 1
1 1 1 3
which means that the network is fully connected. For a given
coupling strength c, Table II gives the allowable communica-
tion intervals h by Theorem 1 and the method in [26].
Also it can be found from Tables I and II that for the
same coupling strength c, our condition gives larger allowable
communication intervals h than that in [26]. Furthermore, it
can be easily calculated that for this example the condition in
[26] involves 1236 decision variables, meanwhile in our work
V. C ONCLUSION
continuous-time CDNs with discrete-time communications is
considered. Based on the time-dependent Lyapunov func-
tional approach, an exponential synchronization criterion has
been established for the considered CDNs, which could take
more advantage of the available information under the actual
discrete-time communication pattern. It has been shown that
the condition presented is less conservative with less compu-
tational burden than the existing results. The effectiveness and
superiority has been shown through numerical examples and
simulations. Future works may be done trying to apply this
theorem into some applications.
 ACCEPTED MANUSCRIPT

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