IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, VOL. 49, NO.
7, JULY 2019
Exponential Synchronization via Aperiodic
Sampling of Complex Delayed Networks
Haoyi Que , Mei Fang , Zheng-Guang Wu , Hongye Su , Senior Member, IEEE,
Tingwen Huang , Senior Member, IEEE, and Dan Zhang
Abstract—A new globally exponentially synchronization
criterion for complex dynamical networks is proposed in this
paper taking account of discrete time communications units and
time delay is considered, in which globally exponential conver-
gence is achieved. By introducing larger decision matrices to
gain time-delay synchronization criterion, it not only inherits the
benefits of full utilization of available information, but also has
less conservatism. At the same time, except for original system
parameters, no more new decision variables are increased. A
time-dependent Lyapunov functional approach is proposed to
prove the effectiveness of the criterion. Some simulation results
hold the feasibility of the theory.
Index Terms—Aperiodic sampling, complex delayed networks,
synchronization.
I. I NTRODUCTION
HE development of complex networks is ushered in a
T booming era, applications could be seen almost every-
where, like social, computer, technological, brain, biological,
and so on. Inspired by the graph with nontrivial topolog-
ical features in the real world, complex dynamic network
(CDN) is proposed and remains active [1]–[10]. With the
increment of computational power in some growing poten-
tial areas, such as finance, power, and others, from a new
noun in the decade, CDN seems to be a familiar topic
now. For most general application scenarios, the structure
of CDNs are more common in discrete time situations,
because in a computer system, communicators are based on
sampled-data [11]–[14].
Manuscript received February 27, 2018; revised June 21, 2018; accepted
July 17, 2018. Date of publication August 23, 2018; date of current ver-
sion June 14, 2019. This work was supported by the Zhejiang Provincial
Natural Science Foundation of China under Grant LR16F030001. This paper
was recommended by Associate Editor H. R. Karimi. (Corresponding author:
Mei Fang.)
H. Que is with the Institute of Intelligence Science and Engineering,
Shenzhen Polytechnic, Shenzhen 518055, China (e-mail: fatqcrab@163.com).
M. Fang is with the College of Automation, Harbin Engineering University,
Harbin 150001, China (e-mail: heumeifang@sina.com).
Z.-G. Wu and H. Su are with the National Laboratory of Industrial
Control Technology, Institute of Cyber-Systems and Control, Zhejiang
University, Hangzhou 310027, China (e-mail: nashwzhg@gmail.com;
hysu@iipc.zju.edu.cn).
T. Huang is with Texas A& M University at Qatar, Doha, Qatar (e-mail:
tingwen.huang@qatar.tamu.edu).
D. Zhang is with the Department of Automation, Zhejiang University of
Technology, Hangzhou 310023, China (e-mail: danzhang@zjut.edu.cn).
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TSMC.2018.2858247
2168-2216 c 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
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1399
Some important fundamental works have been done for
CDNs synchronization, most for sample-data and stabiliza-
tion works. Fridman et al. [15] proposed sufficient LMIs
conditions for a modeled continuous time system with a
piecewise-continuous delay input. Based on that, for sampling
intervals not greater than a scalar, the stabilization system
could be guaranteed. Then, a periodic sampling controller was
designed to confirm the robustness of closed-loop systems, for
examples [15]–[17]. But concerned about the realistic situa-
tion, between each two of successive sampling instants, the
interval is not always a constant. Attention to this, based
on discrete time approach, Suh [18] proposed a time-varying
sampling interval, which is in a certain known boundary.
With the help of robust control, the nonuniform sampling
intervals are transferred into norm-bounded uncertainties. The
following several articles are done by Oishi and Fujioka [19],
Wu et al. [20], and Chen and Zheng [21] drive it to
be a much-refined theory. Other sampling works could be
found in [17] and [22]–[26]. Wang et al. [27] have done
great work for CDNs global asymptomatically synchroniza-
tion. Then Que et al. [28] improved that work with global
exponential synchronization, with fewer decision variables
and more efficiency. Many new and great works emerged,
such as [30]–[32]. Benefitting from lots of preparations done
in sampled-data systems, time-delay CDNs could get a step
further. Some relative propositions and theories could be found
in recent works, for example, Liu et al. [33] have solved
state estimation for a class of CDNs with mixed delays. In
the continuous-time system, state estimation for CDNs with
mixed time delay was done by Zhang et al. [34]. However,
in discrete time sample-data system with time delay, some
new structure could be built to make progress in this field and
practical applications will significantly benefit from that.
For communication networks, network-induced delay hap-
pens everywhere. Therefore, the stability of CDNs must be
considered as a primary goal and practical applications are
more in favor of a rapid and stable algorithm. Because of this,
it is worth while to investigate global exponentially synchro-
nization for CDNs with time delay. Consider the contributions
that Wu et al. made in 2004 [35], in that free-weighting matri-
ces are used to express Leibniz rules with integral and time
delay form. Next, Seuret and Gouaisbaut [36] did very influen-
tial work with Wirtinger-based integral inequality and applying
that into time delay systems. Meanwhile, a time-dependent
Lyapunov functional approach proposed in [28] is also valid
in exploring sampled-data control and filtering problem, which
 1400 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, VOL. 49, NO. 7, JULY 2019

can be seen in [29] and [37]–[44]. With the linear matrix where N nodes with similar nature. tk is the communication
inequalities and the Lyapunov functional approach, more avail- instant and satisfy
able information could be taken full advantage of. Introducing
some larger decision matrices could increase the margin of 0 < t1 < t2 < · · · < tk < · · · < lim tk = ∞
k→∞
judgment, but in most time, some new decision variables are k = 0, 1, 2, . . . (2)
have to be added, simultaneously, more computing resources
could be consumed. Also to be mentioned here is that con- where we have t0 = 0 as initial communication instant. In
servatism will increases. With all available information and system (1), xi (t) = [xi1 (t), xi2 (t), . . . , xin (t)]T ∈ Rn is the
existing problems needed to be solved in the former discus- state vector of node i. At the time t < 0, xi (t) holds at
sion, it is a great challenge to make CDNs with time delay the initial condition. d is a constant of time delay. N is the
gain further development, which also motivate this paper. number of nodes. f̄ : Rn × R+ → Rn is a nonlinear vector-
In this paper, a new synchronization criterion for CDNs valued function. c is a constant for coupling strength.  is an
with time delay is proposed and with that, global exponen- appropriate dimension matrix which represents inner-coupling
tial convergence is achieved. Same as most of the existing between different nodes. If nodes i and j are connected, we
cases, systems are assumed to have bounded but time-varying have gij > 0, otherwise if there is no connection between nodes
intervals between every different communication instants, i and j, we have gij = 0. With that we could use G = (gij )N×N
which comports to reality. Next, for sampling intervals, an to denote the coupling configuration  matrix. The diagonal ele-
upper bound is deduced from the time-dependent Lyapunov ments in G is represents as gii = − N j=1,j=i gij , which is the
functional approach. Compared with global exponential syn- negative sum of all other connections. , G, and A are constant
chronization criterion in [28] and other works [45]–[50], matrices appropriate dimensions.
[54]–[56], not only is available information fully utilized, but The distance between every two consecutive communica-
the conservatism is also decreased. By introducing larger deci- tion instants is discrete time and assumed to be bounded. By
sion matrices, information error with transmission delay also formulas stating, tk+1 − tk = hk ≤ h ∀k ≥ 0, where h > 0 is
get reflected. Moreover, it provides strong support for us to a scalar, and represents an allowable communication interval.
make full use of all available information. Based on improved Let
Wirtinger-based integral inequality, and Lyapunov functional ⎡ ⎤ ⎡ ⎤
x1 (t) f̄ (x1 (t))
approach, a new discrimination matrix structure is built, and ⎢ x2 (t) ⎥ ⎢ f̄ (x2 (t)) ⎥
with that, all above time-delay synchronization criterion con- ⎢ ⎥ ⎢ ⎥
x(t) = ⎢ . ⎥ ∈ RNn , g(t) = ⎢ . ⎥ ∈ RNn
cluded. In addition to the original parameter in the system ⎣ .. ⎦ ⎣ .. ⎦
itself, the number of decision variables does not increase. Two xN (t) f̄ (xN (t))
simulation results with Chua’s circuit number examples show ⎡ ⎤
x1 (t − d)
the effectiveness of theoretical results. ⎢ x2 (t − d) ⎥
This paper is organized as follows. In Section II, we describe ⎢ ⎥
x(t − d) = ⎢ .. ⎥ ∈ RNn .
the problem of discrete-time CDNs with time-delay. In Section ⎣ . ⎦
III, we propose a synchronization criterion for discrete time xN (t − d)
CDNs with time-delay, and proofs for global exponential con-
vergence. In Section IV, two numerical examples are offered, Therefore, we could rewrite (1) as follows:
with not fully connected and fully connected network topology ẋ(t) = (IN ⊗ A)x(t) + (IN ⊗ Ad )x(t − d) + g(t)
structure. 
+ c(G ⊗ )x(tk ), t ∈ tk , tk+1 ). (3)

A. Notation The following definition for CDN (1) is introduced in this

For simplicity, throughout this paper, Rn stands for n-
dimensional Euclidean. Rm×n represents the set of all m × n
real matrices.  ·  is used to represent Euclidean norm of two.
P > 0 means P is positive definite. AT means the transpose of
matrix A. A−1 means the inverse of A. A ⊗ B represents the
Kronecker product of matrices A and B. The “∗” represents
the symmetric term in a matrix.
II. P RELIMINARIES
A discrete-time CDN with time delay is considered as
follows:

N transmitted synchronization information could be saved and
ẋi (t) = Axi (t) + Ad xi (t − d) + f̄ (xi (t), t) + c
j=1

× t ∈ tk , tk+1 ), i = 1, 2, . . . , N
paper.
Definition 1 [14]: For any initial values xi (0) (i =
1, 2, . . . , N), if T > 0 is sufficient large, and assuming that
exist constants α and β > 0, for all t > T, the following
equation holds:
||xi (t) − xj (t)|| ≤ βe−αt . (4)
Then, (1) is said to be globally exponentially synchronous.
Benefits from discrete-time communication, xi (tk ) are not
needed unless at discrete-time instants. Then for state vari-
ables of nodes in (1), all other information could be considered
as redundant and unnecessary. Thereby huge amounts of
gij xj (tk ) bandwidth efficiency utilization will be greatly improved.
But with time-delay items, CDN may be unstable and mis-
(1) cellaneous. That also motivates this paper to build a new

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 QUE et al.: EXPONENTIAL SYNCHRONIZATION VIA APERIODIC SAMPLING OF COMPLEX DELAYED NETWORKS 1401

discrete-time exponential synchronization criterion with time- 22 = (Δ2 ⊗ In )(IN−1 ⊗ F2 ) + (IN−1 ⊗ F2 )(Δ2 ⊗ In )
delay, reduce the cost of synchronization at the same time, get 23 = 0
a more stable and effective synchronization criterion.
24 = 0
The following assumptions and lemmas are needed for this
paper. 33 = −2(Δ1 ⊗ In ) − 2(Δ2 ⊗ In )
Assumption 1 [27]: If there exists a diagonal matrix F > 0, 34 = 0
then X + XT
44 = U2 + U2T + X1 + X1T − (10)
f̄ (x1 , t) − f̄ (x2 , t)
T
f̄ (x1 , t) − f̄ (x2 , t) ≤ (x1 − x2 )T F (x1 − x2 ) 2
(5) and
holds for nonlinear part of the node system (1).
Lemma 1 [27]: The following equation holds: 11 = (IN−1 ⊗ A)T (U1 + εI)(IN−1 ⊗ A) + X + X T (IN−1 ⊗ A)
X + XT
M̃G = M̃GP M̃ (6) 12 = (IN−1 ⊗ A)T (U1 + εI)(IN−1 ⊗ Ad ) + (IN−1 ⊗ Ad )
2
where X + XT
⎡ ⎤ 13 =
1 −1 0 ··· 0 2
⎢1 0 −1 0 ··· 0 ⎥ 14 = (IN−1 ⊗ A)T + c(IN−1 ⊗ A)T (U1 + εI)M(GP ⊗ )
⎢ ⎥ c X + XT
⎢ ⎥
M̃ = ⎢ ... ..
.
..
. ⎥ ∈ R(N−1)×N + M(GP ⊗ ) + (IN−1 ⊗ A)T (−X + X1 )
⎢ ⎥ 2
⎣1 0 ··· 0 −1 0⎦ 22 = (IN−1 ⊗ Ad )T (U1 + εI)(IN−1 ⊗ Ad )
1 0 ··· 0 −1
⎡ ⎤ 23 = (IN−1 ⊗ Ad )T (U1 + εI)
0 0 0 ··· 0
⎢−1 24 = (IN−1 ⊗ Ad )T U2 + c(IN−1 ⊗ Ad )T (U1 + εI)M(GP ⊗ )
⎢ 0 0 ··· 0⎥ ⎥
⎢ .. ⎥ + (IN−1 ⊗ Ad )T (−X + X1 )
⎢0 −1 0 ··· . ⎥
⎢ ⎥ 33 = (U1 + εI)
P=⎢ .. .. ⎥ ∈ RN×(N−1)
⎢0 0 . . 0⎥ 34 = U2 + c(U1 + εI)M(GP ⊗ ) + (−X + X1 )
⎢ ⎥
⎢ . .. ⎥
⎣ .. . −1 0⎦ 44 = U3 + cU T M(GP ⊗ ) + cM(GP ⊗ )T U2
0 ··· 0 0 −1 + c2 M(GP ⊗ )T (U1 + εI)(U1 + εI)
G is defined above. + c(X + X1 )T M(GP ⊗ ) + cM(GP ⊗ )T (X + X1 )
M = M̃ ⊗ In .
III. M AIN R ESULTS
Theorem 1: For a given scalar h > 0, assume that there Then the CDN model with the form of (1) is globally
U1 U2 exponentially synchronized.
exist matrices P > 0, > 0, diagonal matrices
∗ U3 Proof: See the Appendix.
1 , 2 > 0, X, X1 with appropriate dimensions, then under Remark 1: From the definition of K in (38), we could con-
Assumption 1 if CDN satisfy sider K is a Kronecker product between a constant matrix and
⎡  T
 ⎤ U1 . With U1 > 0, and the constant matrix have three eigenval-
P + h X+X h(−X + X T )
⎣ 2  ⎦ > 0 (7) ues of 0, and two eigenvalue −2 and −18 on the fourth and
T
∗ h −X1 − X1T + X+X2 fifth, respectively.
t Such that from definition (37), items with
⎡ ⎤ [1/(t − tk )] tk y(s)ds are separated and inevitably less than 0.
11 12 13 14
⎢ ∗ 22 23 24 ⎥ Such that we have ψ T [(1/[t − tk ])K]ψ < 0. All the more for
1 = ⎢ ⎣ ∗
⎥<0 (8)
∗ 33 34 ⎦ that, (40) holds, which implies asymptomatic stabilization is
∗ ∗ ∗ 44 proved.
⎡ ⎤ Remark 2: It should be pointed out that compared to [28],
11 12 13 14 in which CDN without time-delay considered, in addition to
⎢ ∗ 22 23 24 ⎥
=⎢ ⎣ ∗
⎥<0 (9) the system itself in (1), the number of variables in this paper
∗ 33 34 ⎦ is not added. With the reason that y(t − d) is the time-delay
∗ ∗ ∗ 44 state of y(t), for most time, we could always find that suitable
where F and  for both (34) and (35).
X + XT Remark 3: In our results, decision variables only increase
11 = P(IN−1 ⊗ A) + (IN−1 ⊗ A)T P − with N from [28]; that means the total number of scalar is
2
+ (Δ1 ⊗ In )(IN−1 ⊗ F1 ) + (IN−1 ⊗ F1 )(Δ1 ⊗ In ) 7.5m2 +1.5m+2N−1, where m = (N−1)n. Compared with the
total number involved in [50], which is 15m2 + 2m + N1, and
12 = P(IN−1 ⊗ Ad )
some other works, the advantages still remain clear. Therefore,
13 = P + (IN−1 ⊗ A)T the computational burden will decrease inversely proportional
14 = cPM(GP ⊗ ) + U2 − X − X1 as the n gets bigger.

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 1402 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, VOL. 49, NO. 7, JULY 2019

Fig. 2. CDNs with topology G1 .

Fig. 1. Chaotic “double scroll” attractor pattern are shown, with computer
simulation of Chua’s circuit after 50 s.

IV. N UMERICAL E XAMPLES AND S IMULATIONS Fig. 3. State v1 trajectories with topologyc G1 .

In our numerical examples, Chua’s circuit is chosen for the

reason that it is similar to the isolated notes in CDNs. An
example comes from [51]
⎧
⎪ dv1
⎨ dt = C1 (G(v2 − v1 ) − f (v1 ))
1
dv2
dt = C2 (i − G(v2 − v1 ))
1
⎪
⎩ di
dt = − L v2 + η(v1 (t − d))
1
Fig. 4. State v2 trajectories with topologyc G1 .
where v1 , v2 , and i are system states. v1 and v2 are the volt-
age across capacitor, i is the current. d represents time-delay.
In this paper, we only use Chua’s circuit to simulate CDNs.
Therefore, we only concentrate on numerical examples rather
than the electric circuit itself.
Let G = 1, C1 = 0.1, C2 = 1, L = (1/15), η = 0.3, and
d = 1. Initial condition [0.50.20.05], when t < 0, sates holds
in initial condition. After 100 s computing the simulation, we
Fig. 5. State i trajectories with topologyc G1 .
could get the state trajectory shown in Fig. 1.

A. Case 1 First, let us consider a CDN with the coupling configuration

Recalling our system (1), we get the following numerical matrix
parameters: ⎡ ⎤
−6 2 3 1
⎡ ⎤ ⎡ ⎤ ⎢3 −12 5 4⎥
−10 10 0 0 0 0 G1 = ⎢
⎣1
⎥. (12)
0 −1 0⎦
A=⎣ 1 −1 1⎦; Ad = ⎣ 0 0 0⎦
5 0 0 −5
0 −15 0 0.2 0 0
Topology is shown in Fig. 2. Applying suitable communication
and
intervals h = 0.028 and c = 1.53, all trajectories are shown
⎡ ⎤ in Figs. 3–5. Compared with [28], it is obviously larger than
12.72 0 0
1 = 2 =⎣ 0 0 0⎦ both methods in [28, Table I]. All trajectories with topology
0 0 0 Fig. 2 converge to one node. Denote
 T
f (x) = − C11 f (v1 ) 0 0 ey (t) := i=1 Yi (t)
4
(13)

where where Yi (t) is node i norm sum of synchronization errors in

Fig. 2. Results are shown in Fig. 6, where errors synchronize
f (v1 ) = −0.7v1 + 0.03(v1 + 1 − v1 − 1). (11) exponentially.

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 QUE et al.: EXPONENTIAL SYNCHRONIZATION VIA APERIODIC SAMPLING OF COMPLEX DELAYED NETWORKS 1403

Fig. 10. State i trajectories with topologyc G2 .

Fig. 6. Synchronization error with topologyc G1 .

Fig. 11. Synchronization error with topologyc G2 .

Synchronization can be seen in Fig. 11. The results also

show the effectiveness in fully connected topology with a
larger allowable range.

V. C ONCLUSION
In this paper, we propose a new synchronization criterion
Fig. 7. CDNs with fully connected topologyc G2 . for CDNs with time-delay, with that globally exponential con-
vergence is achieved. The main contributions of this paper are
as follows.
1) A new time-dependent Lyapunov functional approach is
proposed for discrete-time CDN synchronization crite-
rion with time-delay.
2) A new discrimination matrix structure is built to make
more use of available information.
Fig. 8. State v1 trajectories with topologyc G2 . 3) Without any new variables added except for original
system parameters.
4) Globally exponentially convergence is achieved.
Two numerical examples are provided to verify the feasi-
bility of the method. This method could be extended to
the global exponential synchronization criterion of complex
dynamic time-varying delay. Considering future works of this
paper, some classic control theory may get their new energy.
For examples, with the characteristics of strong robustness for
Fig. 9. State v2 trajectories with topologyc G2 . uncertain parts of the systems [52], [53], sliding mode tech-
nique may be added into the new structure of CDN to make
it more applicable in reality.
B. Case 2
Next, a fully connected topology is considered in Fig. 7 and
also simplified as a coupling configuration matrix A PPENDIX
⎡ ⎤ P ROOF OF T HEOREM 1
−3 1 1 1
⎢1 Denote
−3 1 1⎥
G2 = ⎢⎣1
⎥. (14) ⎡ ⎤
1 −3 1⎦ x1 (t) − x2 (t)
1 1 1 −3 ⎢ x1 (t) − x3 (t) ⎥
⎢ ⎥
y(t) = ⎢ .. ⎥ (15)
Apply c = 2.20, but extend h into h = 0.091, also extend the ⎣ . ⎦
range of [28]. All trajectories are shown in Figs. 8–10. x1 (t) − xN (t)

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 1404 IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, VOL. 49, NO. 7, JULY 2019

meanwhile we have Then with the knowledge P > 0 and from equation such that
⎡ ⎤
x1 (t − d) − x2 (t − d) > I > 0. (24)
⎢ x1 (t − d) − x3 (t − d) ⎥
⎢ ⎥
y(t − d) = ⎢ .. ⎥. (16) Therefore,
⎣ . ⎦
x1 (t − d) − xN (t − d) V(t) ≥ y(t)2 . (25)
With that we could get y(t) = Mx(t). From Lemma 1, the Hence for CDN (17), V(t) is an available Lyapunov functional
following equation will hold: approach. The following equality and inequality of derivatives
ẏ(t) = (IN−1 ⊗ A)y(t) + (IN−1 ⊗ Ad )y(t − d) + f (t) would be deduced:

+ cM(GP ⊗ )y(tk ) t ∈ tk , tk+1 ) (17) V̇1 (t) = 2y(t)T Pẏ(t)
where f (t) = Mg(t). = 2y(t)T P(IN−1 ⊗ A)y(t)
The following Lyapunov functional is built: + 2y(t)T P(IN−1 ⊗ Ad )y(t − d) + 2y(t)T Pf (t)
 + 2cy(t)T PM(GP ⊗ )y(tk ) (26)
V(t) = V1 (t) + V2 (t) + V3 (t), t ∈ tk , tk+1 ) (18)  t T  
ẏ(s) U1 + εI U2 ẏ(s)
where V̇2 (t) = − ds
tk y(t k ) ∗ U3 y(tk )
T  
V1 (t) = y(t)T Py(t) ẏ(t) U1 + εI U2 ẏ(t)
 T   + (tk+1 − t)
ẏ(s) t
U1 + εI U2 ẏ(s) y(tk ) ∗ U3 y(tk )
V2 (t) = (tk+1 − t) ds  t
tk y(t k ) ∗ U3 y(tk )
T  ≤ − ẏ(s)T U1 ẏ(s) ds − 2y(tk )T U2T (y(t) − y(tk ))
y(t) y(t) tk
V3 (t) = (tk+1 − t) X
y(tk ) y(tk ) − (t − tk )y(tk )T U3 y(tk ) + (tk+1 − t)y(tk )T U3 y(tk )
 
X+X T
−X + X 1
+ 2(tk+1 − t)y(tk )T U2T (IN−1 ⊗ A)y(t)
X = 2 .
+ 2(tk+1 − t)y(tk )T U2T (IN−1 ⊗ Ad )y(t − d)
T
∗ −X1 − X1T + X+X 2  t
Remark 4: From the structure of V2 (t) and V3 (t), we could + 2(tk+1 − t)y(tk )T U2T f (t) − ε ||ẏ(s)||2 ds
find that at the instants tk , V2 (t) = 0, such that when t = tk , tk
we have + 2c(tk+1 − t)y(tk ) U2 M(GP ⊗ )y(tk )
T T

lim V(t) = V1 (tk ) + 0 + V3 (tk ) = lim V(t) (19) + (tk+1 − t)ζ (t)T T (U1 + εI) ζ (t) (27)
t→tk − t→tk +
where we define
such that V(t) is continuous. ⎡ ⎤ ⎡ ⎤T
From Jensen’s inequality, we have y(t) (IN−1 ⊗ A)T
⎢y(t − d)⎥ ⎢ (IN−1 ⊗ Ad )T ⎥
V(t) ≥ V1 (t) + V3 (t) ζ (t) = ⎢
⎣ f (t) ⎦,
⎥ =⎢
⎣
⎥
⎦
 t T  I
1 ẏ(s) ẏ(s) y(tk ) c(GP ⊗ ) MT T
+ (tk+1 − t) U
h tk y(tk ) y(tk )
T  and
ẏ(s) ẏ(s) T
 T 
= y(t) Py(t) + (tk+1 − t)
T
(X + U ) y(t) y(t) y(t) ẏ(t)
y(tk ) y(tk ) V̇3 (t) = − + 2(tk+1 − t)
X X
T    y(tk ) y(tk ) y(tk ) 0
ẏ(s) ẏ(s) T 
= P̂ + (tk+1 − t)(X + U ) (20) y(t) y(t) X+X T
y(tk ) y(tk ) =− X + 2(tk+1 − t)y(t)T ζ (t)
y(tk ) y(tk ) 2
where we denote
 + 2(tk+1 − t)y(tk )T −X T + X1T ζ (t). (28)
U1 − U2 U3−1 U2T −U1 + U2 U3−1 U2T
U := From Wirtinger-based integral inequality in [36], we have
∗ U1 − U2 U3−1 U2T
  t
P 0 1
P̂ := − ẏ(s)T U1 ẏ(s) ds ≤ (y(t) − y(tk ))T U1 (y(t) − y(tk ))
0 0 tk t − tk
 
:= (F + (tk+1 − t)(X + U )) (21) + ˜ T U1 ˜ (29)
and we have where
 t 
U1 − U2 U3−1 U2T > 0 (22) ˜ =

3
y(t) + y(tk ) −
2
y(s)ds (30)
t − tk t − tk tk
from equation and Schur complement.
Rewritten (21) as That leads to
 t
tk+1 − t t − tk 1
= P̂ + hk (X + U ) + P̂. (23) − ẏ(s)T U1 ẏ(s) ds ≤ ϑ T Z T Ũ1 Zϑ (31)
hk hk tk t − tk

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 QUE et al.: EXPONENTIAL SYNCHRONIZATION VIA APERIODIC SAMPLING OF COMPLEX DELAYED NETWORKS 1405

where we define Furthermore, learning from matrix factorization of K, the

 
I −I 0 U1 0 fifth eigenvalue of K less than zero. At the same time,
Z= , Ũ1 = (32)
I I −2I 0 3U1 from (8) and (9) we have the precious 4 eigenvalues are not
 t T larger than 0, such that we could conclude that there exists
ϑ = y(t) y(tk ) t−t 1
k tk
y(s)ds . (33) ξ > 0 satisfying
t
Remark 5: For item tk y(s)ds, with y(t) is discrete-time V̇(t) < −ξ ψ T ψ (40)
state, we could not calculate itself. But there is no need to get
the value of the item itself, just used in the judgment matrix. which could be rewritten as
Remark 6: By introducing Wirtinger-based integral V̇(t) < −ξ y(t)2 − ξ y(t − d)2 − ξ f (t)2 − ξ y(tk )2
inequality, conservatism is reduced. Details could be found  t 2  t
 
in [36]. − ξ  y(s)ds

 − ε ||ẏ(s)||2 ds. (41)
Besides we get the following equation from Assumption 1 tk tk
with: Therefore, globally asymptomatically synchronization is
2y(t) (Δ1 ⊗ In )(IN−1 ⊗ F1 )y(t) − 2f (t) (Δ1 ⊗ In )f (t) ≥ 0.
T T achieved. But there is still more to explore.
From the structure of V2 (t) we could conclude that there
(34)
exist r1 > 0 such that
Also we have  t
2y(t − d)T (Δ2 ⊗ In )(IN−1 ⊗ F2 )y(t − d) V2 (t) < r1 y(tk )2 + r1 ẏ(s)2 ds. (42)
tk
− 2f (t)T (Δ2 ⊗ In )f (t) ≥ 0 (35)
Also with r2 > 0 we have
where Δ1 , Δ1 > 0, F, F2 > 0. As a result, from (26)–(28) T   y(t) 
y(t)
we have V1 (t) + V2 (t) = P̂ + (tk+1 − t)X
y(tk ) y(tk )
V̇(t) ≤ V̇1 (t) + V̇2 (t) + V̇3 (t)
≤ r2 y(t)2 + r2 y(tk )2 . (43)
+ 2y(t)T (Δ1 ⊗ In )(IN−1 ⊗ F1 )y(t)
− 2f (t)(Δ1 ⊗ In )f (t) From (41)–(43)
+ 2y(t − d)T (Δ2 ⊗ In )(IN−1 ⊗ F2 )y(t − d) V̇(t) + αV(t) ≤ −(ξ − αr2 )y(t)2 − ξ y(t − d)2
− 2f (t)(Δ2 ⊗ In )f (t) − ξ f (t)2 − (ξ − αr2 − αr1 )y(tk )2
   t 2  t
tk+1 − t 2 0 t − tk 3 0  
≤ ψT + ψ − ξ y(s)ds  − (ε − αr1 ) ||ẏ(s)||2 ds.
hk 0 0 hk 0 0  
  t tk tk
1 (44)
+ ψT K ψ −ε ||ẏ(s)||2 ds (36)
t − tk tk
Therefore, if we got α small enough such that satisfied
where
2 = 1 + hk  ξ − αr2 > 0

0 0 ξ − αr2 − αr1 > 0
3 = 1 −
0 hk U3 ε − αr1 > 0.
⎡ ⎤
y(t)
Then
⎢ y(t − d) ⎥
⎢ ⎥
ψ =⎢⎢ f (t) ⎥.
⎥ (37) V̇(t) + αV(t) < 0. (45)
⎣ y(t ) ⎦
1
 t
k
Such that globally exponential synchronization of CDN with
t−tk tk y(s)ds
time-delay is achieved.
The matrix
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Haoyi Que received the B.S. degree in control sci-
ence and engineering from the Huazhong University
of Science and Technology, Wuhan, China, in 2013.
He is currently pursuing the Ph.D. degree in control
science and engineering with Zhejiang University,
Hangzhou, China.
His current research interests include complex
dynamic network, nonlinear system, and adaptive
control.
Mei Fang was born in 1981. She received the B.S.
and M.S. degrees in mathematics from Zhejiang
Normal University, Jinhua, China, in 2004 and 2007,
respectively. She is currently pursuing the Ph.D.
degree with the College of Automation, Harbin
Engineering University, Harbin, China.
Her current research interests include Markov
jump systems and nonlinear systems.
Zheng-Guang Wu was born in 1982. He received
the B.S. and M.S. degrees in mathematics from
Zhejiang Normal University, Jinhua, China, in 2004
and 2007, respectively, and the Ph.D. degree from
Zhejiang University, Hangzhou, China, in 2011.
He is currently with the Institute of
Cyber-Systems and Control, Zhejiang University.
His current research interests include hybrid
systems, networked systems, and computational
intelligence.
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1407
Hongye Su (SM’14) was born in 1969. He received
the B.S. degree in industrial automation from
the Nanjing University of Chemical Technology,
Nanjing, China, in 1990, and the M.S. and Ph.D.
degrees in control science and engineering from
Zhejiang University, Hangzhou, China, in 1993
and 1995, respectively.
From 1995 to 1997, he was a Lecturer with
the Department of Chemical Engineering, Zhejiang
University, where he was an Associate Professor
with the Institute of Advanced Process Control from
1998 to 2000 and currently a Professor with the Institute of Cyber-Systems and
Control. His current research interests include the robust control, time-delay
systems, and advanced process control theory and applications.
Tingwen Huang (SM’13) received the B.S.
degree in mathematics from Southwest University,
Chongqing, China, in 1990, the M.S. degree in math-
ematics from Sichuan University, Chengdu, China,
in 1993, and the Ph.D. degree in computer science
from Texas A&M University, College Station, TX,
USA, in 2002.
He is currently a Professor of Mathematics with
Texas A&M University at Qatar, Doha, Qatar. His
current research interests include dynamical systems,
memristor, neural networks, complex networks,
optimization and control, and traveling wave phenomena.
Dan Zhang received the B.Eng. degree in automa-
tion and the Ph.D. degree in control theory and
control engineering from the Zhejiang University of
Technology, Hangzhou, China, in 2007 and 2013,
respectively.
He was a Research Fellow with Nanyang
Technological University, Singapore, from 2013 to
2014 and the National University of Singapore,
Singapore, from 2016 to 2017. He is currently a
Research Fellow with the Department of MBE, City
University of Hong Kong, Hong Kong. His current
research interests include networked control systems, robust control, and
filtering.