- 254 -

http://www.sj-ce.org/
Scientific Journal of Control Engineering
August 2013, Volume 3, Issue 4, PP.254-260
Exponential Synchronization of Coupled Neural
Networks with Impulsive Control
Huanyun J iao
1

, Yuanhua Qiao
1
, J un Miao
2
, Lijuan Duan
3

1. College of Applied Sciences, Beijing University of Technology, Beijing 100124, China
2. Institute of Computing Technology, Chinese Academy of Sciences, Beijing 100080, China
3. College of Computer Science, Beijing University of Technology, Beijing 100124, China

Email: jiaohuanyun@163.com
Abstract
This paper mainly investigates globally exponential synchronization of coupled neural network with impulsive control. Through
designing and implementing an appropriate impulsive controller, the states of the controlled neural network attain synchronization.
Then, based on the impulsive control theory and the Lypunov stability theory, a sufficient condition is given to ensure the globally
exponential synchronization of coupled neural network.
Keywords: Neural Network; Globally Exponentially Synchronization; Impulsive Control; Hopfield Neural Network
1 INTRODUCTION
Over the recent decade, for the potential applications in many fields such as secure communications, chemical
reactions, biological systems and information science [1], control and synchronization of coupled chaotic dynamical
systems have attracted much attention since the pioneer work of Pecora and Carrol [2] Pecora and Carrol the first
two researchers who proposed the drive-response concept to construct synchronization of coupled chaotic systems.
Drive-response means using the output of driving system to control the response system so that they oscillate in a
synchronization manner. Since then, a wide variety of approaches has been proposed to tackle the problem such as
coupling control [3], observer-based design control[4], adaptive control [5], impulsive control [6], and other control
forms [7].
Recently, dynamical behaviors of delayed neural network have been extensively investigated [8] and many
applications have been found in different areas. However, most of the previous works focused on the stability
analysis [8] and periodic oscillation of different type of neural networks. The investigation of synchronization of
chaotic neural network appears in [9,10]. In [9], instead of constructing a Lypunov function, He and Cao used a
matrix measure to research the synchronization of chaotic neural networks. While in [10], a simple adaptive
feedback scheme is proposed for synchronization of coupled neural networks with or without time-varying delays.
By adjusting their coupling strength adaptively, synchronization of two identical neural networks is achieved. Cheng
et al. [11] provided a exponential stability analysis for synchronization error system between driven and response
systems via state coupling. In [12], the authors discussed synchronization of chaotic neural networks via output or
state coupling. By properly choosing the
1
coupling matrix, synchronization are achieved [11,12]. In [13], quoting
the concept of average impulsive interval, Cao J.D, et al. investigated globally exponential synchronization for
linearly coupled neural networks with time-varying delay and impulsive disturbances. In [14], two types of impulses
are considered: synchronizing impulses and desynchronizing impulses. This paper mainly investigates the issues of
impulsive control in complex neural networks without time-delay. Based on impulsive control and Lypunov stability
theory, a sufficient condition of synchronization for coupled neural networks has been given. It has been proved in
the study of chaos synchronization that impulsive synchronization approach is effective and robust in
synchronization of chaotic dynamical systems.

* This research is partially supported by Natural Science Foundation of China (Nos.61070149, 60970087, 61272320, 61175115)
- 255 -
http://www.sj-ce.org/
The paper is organized as follows, in section 2, the neural network model is given. In section 3, a sufficient condition
of exponential synchronization for the coupled neural network is introduced by constructing the impulsive controller.
The conclusion is made in Section 4.
2 MODEL AND PRELIMINARIES
Firstly, a dynamical system consisting of N linearly coupled identical neural networks has been taken into
consideration. Each node is an n-dimensional system composed of a linear term, a nonlinear term, and an external
input vector. The ith-node can be described by the following differential equation:
( ) ( ) ( ) ( ) ( )
.
=C + + =1,2, , i
i i
x t x t Af x t I t i N (1)
And ( ) ( ) ( ) ( )
1 2
= , , ,
i i i in
x t x t x t x t
T
(

is the state variable of the ith-neural network at time t ; =
n n
C

e9
( )
1 2
diag , , ,
n
c c c ;
n n
A

e9 is a positive definite matrix representing the connection weight matrix; ( ) = I t
( ) ( ) ( )
1 2
, , ,
n
I t I t I t
T
(

is an external input vector, and the activation function vector is ( ) ( )
=
i
f x t
( ) ( ) ( ) ( ) ( ) ( )
1 1 2 2
, , ,
i i n in
f x t f x t f x t
T
(

, and ( ) ( )
i
f x t satisfies the uniform Lipschitz condition with respect to time t ,
throughout the paper.
Assumption 1: For any
1 2
, x x e9, there have constants ( ) >0 =1,2, ,
k
l k n such that
( ) ( )
1 2 1 2
- - , =1,2, , .
k k k
f x f x l x x k n s
For convenience, denote ( )
1 2
= , , ,
n
L diag l l l .
The dynamical behavior of the linear coupled neural network can be described as follows:
( ) ( ) ( ) ( ) ( ) ( )
.
=1
=C + + +
N
i
i i ij j
j
x t x t Af x t I t c b x t I

, =1,2, , i N (2)
Where c is the coupling strength, ( )
1 2
= , , ,
n
diag I satisfying >0
i
( =1,2, , ) i n is the inner connecting
matrix, and the coupling matrix
( )
=
ij
N N
B b

is the Laplacian matrix representing topology of the network, it is an
irreducible matrix with zero-sum and real spectrum. This implies that zero is an eigenvalue of B and it is the only
zero eigenvalue, and the other eigenvalues of B are strictly negative [15].
Next, the issues of impulsive control would be considered for synchronization of the coupled neural network (2). By
adding an impulsive controller ( ) ( ) { }
, ,
k ik i
t I t x t to the ith-node in the coupled dynamical system (2), we have the
impulsively controlled neural network as follows:
( ) ( ) ( ) ( ) ( )
( )
( ) ( )
.
0
=1
=C + +
+ ,
= , = , =1,2,
i
i i
N
ij j k
j
i ik i k
x t x t Af x t I t
c b x t t t t t
x I t x t t t k

I = >

(3)
Where =1,2, , i N , { }
+
-1
k
k
t

is the time sequence satisfying
-1
<
k k
t t and ( ) lim + +
k
t k .
( ) ( )
+ -
= -
i i k i k
x x t x t A
is the control law and
( ) ( )
+
+
=limx
k
i k i
t t
x t t

,
( ) ( )
-
-
=lim
k
i k
t t
i
x t x t

. Suppose that ( )
i
x t is right hand continuous at =
k
t t .
Hence, the solutions of (3) are piecewise right-hand continuous functions with discontinuities at =
k
t t , =1,2, k .
The main purpose of this paper is to design and implement an appropriate impulsive controller ( ) ( ) { }
, ,
k ik i
t I t x t
such that the states of the controlled neural network (3) will synchronize as follows
( ) ( ) ( ) ( )
1 2
, +
N
x t x t x t s t as t (4)
Where ( ) s t is the synchronization state of the controlled coupled neural network (3). It may be equilibrium point,
periodic orbit, or chaotic attractor. For this paper, the synchronization state of system (3) is defined as
( ) ( )
=1
1
=
N
i
i
s t x t
N

(5)
- 256 -
http://www.sj-ce.org/
Where ( )
i
x t ( ) =1,2, , i N is the solution of the continuous coupled neural network (2) with respect to the initial
conditions.
Definition 1 [16]: The impulsively controlled coupled neural networks (3) synchronize exponentially, if there have
constants >0 c and
0
>0 M , such that for any initial values ( )( ) 0 =1,2, ,
i
x i N ,
( ) ( )
( )
0
- -
0 0
- , =1,2, ,
t t
i j
x t x t M e t t i j N
c
s > . (6)
Lemma 1: For any vectors ,
n
x y e9 , >0 c , and positive definite matrix
n n
Q

e9 , the following inequality holds:
-1 -1
2x + y x Qx y Q y c c
T T T
s .
Lemma 2 [17]: Let denote the notation of Kronecker-product, , o e9 , , A B C and D are matrices with
appropriate dimensions, then, we have
( ) ( ) ( )
( ) ( )
( ) ( )( ) ( ) ( )
1 = ;
2 ;
3 .
A B A B
A B C A C B C
A B C D AC BD
o o
+ = +
=

Corollary 1[18]: Suppose >0 p and ( ) u t satisfies the scalar impulsive differential inequality
( ) ( )
( ) ( )
( ) ( ) ( )
+
0
-
0
- ,
=1,2,
=
k
k k
D u t pu t t t t t
u t u t k
u t t t U t

|
s = >

(7)
Where ( ) u t is continuous at
k
t t = ,
0
t t > , ( ) ( ) ( )
+
+
0
= = lim +
k k k
s
u t u t u t s

, and ( ) ( ) ( )
-
-
0
= =lim +
k k k
s
u t u t u t s

exists.
(1) PC | e , and >1 | . Then there has a constant
0
M such that
( )
( )
0
- -
0 0
,
t t
u t M e t t

s > , (8)
Where >0 satisfies the inequality -p 0 s .
3 SYNCHRONIZATION ANALYSIS
In this section, we analyze the exponential synchronization of the impulsive controlled neural networks.
Let
( ) ( ) ( ) ( ) ( )
1 2
= , , ,
N
x t x t x t x t
T
T T T
,
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) 1 2
= , , ,
N
F x t f x t f x t f x t
T
T T T
, and ( ) = I t
( ) ( ) ( ) ( )
, , , I t I t I t
T
T T T
,
then the impulsively controlled coupled neural network (3) can be rewritten in the Kronecher-product form as
follow:
( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
( ) ( )
.
0
= +
+ + ,
= , = , =1,2,
N N
k
i ik i k
x t I C x t I A F x t
I t c B x t t t t t
x I t x t t t k

I = >

(9)
Suppose that ( )
1 2
= , , ,
N

T
is the normalized left eigenvector of the coupling matrix B with respect to
eigenvalue 0 satisfying
=1
=1
N
i
i

. As the coupling matrix B is irreducible, according to the Perron-Frobrnius theory

(Horn & Johnson, 1990; Lu & Chen, 2006). The conclusion has been drawn that >0
i
( =1,2, , ) i N . Let
{ }
1 2
= , , , >0
N
diag ,
( )
ij
N N
W w
T

= , and denote B B B
T
= + .
Theorem 1: Consider the controlled neural network (9) with irreducible coupling matrix B . Let the impulsive
controller be
( ) ( ) ( ) ( )
( ) ( )
( )
( )
+
=1
+
-
=1
, = , -
= - -
i i ik i k
k
k i k k
k
U t x I t x t t t
d x t s t t t
o
o

( 1 0 )
- 257 -
http://www.sj-ce.org/
Where
k
d is a control gain constant, and ( ) t o is the Dirac function. On the condition that assumption 1 holds, and
the following conditions hold for all =1,2, , . i n =1,2, k
(I) There exist two numbers
( )
max
=- 2 p C c AA LL
T T
I+ + and
( ) ( )
2 max
B W = .
(II) Let >0 satisfying -p 0 s , and ( )
{ }
2
1, 1+
k k
max d u = ,
+
-1
ln
=sup
-
k
k
k k
t t
u
u
eZ

`
)
,
Such that < u . Then the impulsively controlled coupled neural networks (9) synchronize exponentially globally.
Proof: Let ( ) ( ) ( ) = - , =1,2, ,N
i i
v t x t s t i , we have the error dynamical system as
( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
j=1
0
=1
-
= + + +
1
- + ,
= 1+ = , =1,2,
N
i i i ij j
N
i k
k
i k k i k k
v Cv t Af v t s t c b v t
Af v t s t t t t t
N
v t d v t t t k

( = >

(11)
Let ( ) ( ) ( ) ( )
1 2
= , , ,
N
v t v t v t v t
T
(

, the error impulsive dynamical system (11) can be rewritten in the
Kronecker-product form:
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( )
0
-
= + + +
1
- + ,
= 1+ = , =1,2,
N N
N k
k k k k
v t I C v t I A F v t s t c B v t
H A F v t s t t t t t
N
v t d v t t t k
I

= >

(12)
Where
N
H is a matrix with elements 1. Considering the function ( ) ( ) ( ) ( ) =
n
V t v t W I v t
T
. Referring to the
construction of matrix W and some detailed calculation, we have
( ) ( ) ( )
=1,
1
= - - -
2
N N
ij i j i j
i j j i
V t w v v v v
T
=


The Dini derivative of ( ) V t along the trajectories of the system (12) is as follows:
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
=2
=2 2 +
2
2 +
n
N
V t v t W I v t
v t W C v t v t W A F v t s t
v t WB v t v t WH A F v t s t
N
T
T T
T T

+
+ I

( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
=1 =1,
=1 =1, =1
- [ - - + + + ]
1
- - - + +
+ [ +W ]v
N N
ij i j i j i J
i j j i
N N N
ik i j i J
i j j i k
w v v C v v A f v t s t f v t s t
w v v A f v t s t f v t s t
N
cv t B B t
T
=
T
=
T
T
s
| |

|
\ .
+ I I


(13)
Using assumption 1 and lemma 1, we have
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( )( )
2 - + +
- + -
i j i J
i j i j
v v A f v t s t f v t s t
v v AA L L v v
T
T
T T

s
(14)
Let B B B
T
= + , it follows from Perron-Frobrnius theorem (Horn & Johnson, 1990) that, the eigenvalues of matrix
- 258 -
http://www.sj-ce.org/
B can be arranged as follows:
( ) ( ) ( ) ( )
1 2 3
0= > .
N
B B B B > > >
By matrix decomposition theory (Horn & Johnson, 1990), there has unitary matrix U , such that B=U U
T
A , where
( ) ( ) { } 2
= 0, , ,
N
diag B B A and
| |
1 2
= , , ,
N
U u u u
T

With
( ) ( ) ( )
1
= 1 , 1 , , 1 u N N N
T
(

.
Let ( ) ( ) ( ) =
n
y t U I v t
T
, then we have ( ) ( ) ( ) =
n
v t U I y t , and ( ) ( ) ( ) ( )
1 2
= , , ,
N
y t y t y t y t
T
T T T
(

, ( )
n
i
y t e9
( ) =1,2, , i N .
Hence we have
( ) ( ) ( )
( )( )( )( ) ( )
( )( ) ( )
( ) ( ) ( )
( ) ( ) ( )
=2
2
=2
[ ]v
=
=
=
n n
N
i i i
i
N
i i
i
v t B B t
y t U I B U I y t
y t U BU y t
B y t y t
B y t y t

T
T
T T
T T
T
T
+ I
I
I
I
s I

(15)
From the construction of matrixW , it is known that W is a zero row sum irreducible symmetric matrix with negative
off-diagonal elements. Hence, we have ( )
max
>0 W . Moreover,
1
0 0
=
0
n
n
Wu
U WU
T
T
(
(

, and | |
2 3
= ,u ,
N
U u u
T
satisfying
1
U=
N
U I
T

. Therefore we have
( ) | | ( )
( )( ) ( )
( )( ) ( )
( ) ( )( ) ( )
( ) ( ) ( )
max
max
=2
W v
=
=
N
i i
i
v t t
y t U WU y t
y t U WU y t
W y t U U y t
W y t y t

T
T T
T T
T T
T
I
I
= I
s I
I

(16)
and ( ) ( ) ( ) ( )
2 3
= , , ,
N
y t y t y t y t
T
T T T
(

.
It follows from (15), (16), and the equality
( ) ( )
2 max
B W = , we have
( ) ( ) ( )
( ) ( )
( )
( ) ( )
2 max
=2
[ +W ]v
+ =0
N
i i
i
v t B B t
B W y t y t

T
T
T
+ I I
s I

(17)
Recalling (13), it follows from (14) and (17) that
( ) ( ) ( )
( ) ( )( )
=1 =1
=1 =1, =1
1 1 1
- - + + -
2 2 2
1
- - - -
N N
ij i j i j
i j j
N N N
ik i j i j
i j j i k
V t w v v C c AA L L v v
w v v AA L L v v
N

T
T T
=
T
T T
=
| |
s I
|
\ .
| |
+
|
\ .


(18)
- 259 -
http://www.sj-ce.org/
Since
( )
max
=- 2 p C c AA LL
T T
I+ + , A and L are positive definite matrices, we obtain
( ) ( ) | |
-1
- , , , =1,2,
k k
V t pV t t t t k s e (19)
From the construction of ( ) V t and = , =1,2,
k
t t k , we have
( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
=1 =1
2
- - - -
=1 =1
2 2
- -
1
= - -
2
1
= 1+ - -
2
1
= 1+ 1+
2
N N
k ij i k j k i k j k
i j j
N N
k ij i k j k i k j k
i j j
k k k k
V t w v t v t v t v t
d w v t v t v t v t
d V t d V t
T
=
T
=

s


( 2 0 )
According to Corollary 1, (19) and (20), the conclusion is made that there has a constant
0
M , such that
( )
( )( )
0
- - -
0
t t
V t M e
u
s ,
0
> t t .
Hence, we have ( )
( )( )
0
- - -
0
1
-
2
-
t t
ij i j
w x x V t M e
u
s s . Since < u , then globally exponential synchronization of the
impulsive controlled coupled neural network (9) is achieved.
The proof is completed.
Remark: Differently from previous investigations in [19], [20], the idea of the proof is to take the synchronization
state ( ) s t as a middle variable, such that all states of the dynamical system synchronize, but ( ) s t may be not a
solution to an isolated dynamical node. Meanwhile, synchronization of the impulsively controlled coupled neural
network (3) rely not only on the coupling matrix B , but on the impulsive gain
k
d and the impulsive control interval
-1
-
k k
t t .
4 CONCLUSIONS
Differently from [13], [14], this paper mainly has designed and completed an appropriate impulsive controller, and
globally exponential synchronization of a coupled neural network with impulsive control has also been investigated.
A sufficient condition for synchronization of dynamical systems has been derived analytically.
REFERENCES
[1] Chen, G., Dong, X.: From Chaos to order: Methodologies Perspectives and Application. World Scientific, Singapore (1998)
[2] Pecora, L.M., Carrol, T.L.: Synchronization in chaotic systems. Phys. Rev. Lett. 64, 821-823 (1990)
[3] Huang, X., Cao, J.: Generalized synchronization for delayed chaotic neural networks: a novel coupling scheme. Nonlinearity 19,
2797-2811 (2006)
[4] Mahboobi, S.H., shahrokhi, M., Pishkenari, H.N.: Observer-based control design for three well-known chaotic systems. Chaos
Solitons Fractals 29, 381-392 (2006)
[5] Chen, S., lv, J.: Parameters identification and synchronization of chaotic systems based upon adaptive control. Phys. Lett. A 299,
355-358 (2002)
[6] Yang, T., Chua, L.O.: Impulsive stabilization for control and synchronization of chaotic systems: theory and application to secure
communication. IEEE Trans. Circuits Syst. I44, 976-988 (1997)
[7] Park, J.: Synchronization of genesio chaotic system via backstepping approach. Chaos Solitons Fractals 27, 1369-1375 (2006)
[8] Cao, J., Li, X.: Stability in delayed Cohen-Grossberg neural networks: LMI optimization approach. Physica D 212, 54-65 (2005)
[9] He, W., Cao, J.: Exponential synchronization of chaotic neural networks: a matrix measure approach. Nonlinear Dyn. 55, 55-66
(2009)
[10] Cao, j., Lu, J.: Adaptive synchronization of neural networks with or without time-varying delay. Chaos 16, 013133 (2006)
[11] Cheng, C.J., Liao, T.L., Hwang, C.C.: Exponential synchronization of a class of chaotic neural networks. Chaos Solitons Fractals
24, 197-206 (2005)
[12] Lu, H., van Leeuwen, C.: Synchronization of chaotic neural networks via output or state coupling. Chaos Solitons Fractals 30,
- 260 -
http://www.sj-ce.org/
166-176 (2006)
[13] J. Lu, D. W. C. Ho, and J. Cao, Exponential Synchronization of Linearly Coupled Neural Networks with Impulsive Disturbances,
IEEE Transactions on Neural Networks, Vol. 22, No. 2, 2011
[14] J.Lu, D. W.C Ho, and J. Cao, A unified synchronization criterion for impulsive dynamical networks, Automatica 46 (2010)
1215-1221
[15] F. Chung, Spectral Graph Theory. Providence, RI: AMS, 1997
[16] C. Wu. Synchronization in Complex Networks of Nonlinear Dynamical Systems. Singapore: Word Scientific. 2007
[17] Chen, J.L and Chen, X.H.: Special Matrices. Tsinghua University press, China, 2001
[18] Yang. Z. and Xu. D., Stability analysis of delay neural networks with impulsive effects. IEEE Trans. Circuits Syst.-II, vol.52,
no.8, pp. 517-521. Aug. 2005
[19] Xiang. L. Zhou. L, Liu. Z. G., Robust impulsive synchronization of coupled delayed neural network, ISNN, 2007, Part -II, LNCS
4492, pp. 16-23, 2007
[20] Xiang. L. Zhou. L, Liu. Z. G., Robust impulsive synchronization of coupled delayed dynamical networks and its application,
ISNN, 2007, Part -II, LNCS 4492, pp. 16-23, 2007