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a r t i c l e i n f o abstract
Article history: A class of fractional-order neural networks with delay is discussed in this paper, a sufficient condition is
Received 27 June 2012 established for the uniform stability of such network. Moreover, the existence, uniqueness and stability
Received in revised form of its equilibrium point are also proved. A numerical example is presented to demonstrate the validity
12 September 2012
and feasibility of the proposed results.
Accepted 19 November 2012
Crown Copyright & 2013 Published by Elsevier B.V. All rights reserved.
Communicated by H. Zhang
Keywords:
Fractional-order neural networks
Delay
Uniform stability
0925-2312/$ - see front matter Crown Copyright & 2013 Published by Elsevier B.V. All rights reserved.
http://dx.doi.org/10.1016/j.neucom.2012.11.034
Please cite this article as: L. Chen, et al., Dynamic analysis of a class of fractional-order neural networks with delay, Neurocomputing
(2013), http://dx.doi.org/10.1016/j.neucom.2012.11.034i
2 L. Chen et al. / Neurocomputing ] (]]]]) ]]]–]]]
paper [13]. Yu et al. investigated a-stability and a-synchronization neuron. On the other hand, it should be noted that the advantage
for fractional-order neural networks [14]. In addition to these, of Caputo approach is that the initial conditions for fractional
several recent results concerning chaotic synchronization in differential equations with Caputo derivatives take on the same
fractional-order neural networks have been reported in [15–17]. form as for integer-order differential, which have well understood
To the best of our knowledge, there are few results on the physical meanings. Comparing these two formulas, one easily
stability of fractional-order neural networks with delay. What arrives at a fact that Caputo derivative of a constant is equal to
should be pointed out is that the existence of pure time delay, zero. Therefore, in the rest of this paper, we deal with fractional-
regardless of its presence in a control and/or state, may cause order neural networks with delay involving Caputo derivative, and
undesirable system transient response, or, generally, even an the notation Da is chosen as the Caputo fractional derivative
instability. As is well known, there are many stability results operator Da0,t .
about integer-order neural networks in the past few decades The following properties of mentioned operators are specially
[18–22], most of which are obtained by constructing Lyapunov provided.
function, but these results and methods could not be extended
and applied to fractional-order case. Therefore, to establish some Lemma 1 (Li and Deng [23]). If xðtÞ A C m ½0,1Þ and
stability sufficient criteria for fractional-order neural networks is m1 o a o mA z þ , then
quite necessary and challenging. Motivated by the above discus- ð1Þ Da Db xðtÞ ¼ Dða þ bÞ xðtÞ, a, b Z 0, ð4Þ
sions, this paper devotes to presenting a sufficient criterion for
stability of a class of fractional-order neural networks with delay. ð2Þ Da Db xðtÞ ¼ xðtÞ, a ¼ b Z 0, ð5Þ
Meanwhile, the existence, uniqueness, and uniform stability of its
equilibrium point are proved. X
m1 k
t ðkÞ
The rest of the paper is organized as follows. The fractional- ð3Þ Da Db xðtÞ ¼ xðtÞ x ð0Þ, a ¼ b Z 0: ð6Þ
i¼0
k!
order network model is introduced and some necessary defini-
tions and lemmas are given in Section 2. A sufficient criterion
ensuring the uniform stability of the system and the existence,
uniqueness, and uniform stability of the equilibrium point is The dynamic behavior of a continuous fractional-order delayed
presented in Section 3. A example and simulation are obtained neural network can be described by the following differential
in Section 4. Finally, the paper is concluded in Section 5. equation:
The following notation will be used in this paper. Let X
n X
n
O ¼ ðCð½0,T,RÞ,J JÞ, where ðCð½0,T,RÞ denote a class of all contin- Da xi ðtÞ ¼ ci xi ðtÞ þ aij f j ðxj ðtÞÞ þ bij g j ðxj ðttÞÞ þ Ii ,
j¼1 j¼1
uous column vector functions. For x A Cð½0,T,RÞ, the norm is
P i A N ¼ f1,2, . . . ,ng, t A ½0,T, T o 1,
defined by JxðtÞJ ¼ ni¼ 1 supt A ð0,T fet 9xi ðtÞ9g. ð7Þ
or equivalently
2. Model description and preliminaries Da xðtÞ ¼ CxðtÞ þAf ðxðtÞÞ þ BgðxðttÞÞ þ I, ð8Þ
where 0 o a o 1, n corresponds to the number of units in a neural
In this section we present some definitions, lemma and recall
network; xðtÞ ¼ ðx1 ðtÞ, . . . ,xn ðtÞÞT A Rn corresponds to the state
the well-known results about fractional differential equations.
vector at time t; f ðxðtÞÞ ¼ ðf 1 ðx1 ðtÞÞ,f 2 ðx2 ðtÞÞ, . . . ,f n ðxn ðtÞÞÞT and
Definition 1. The fractional integral (Riemann–Liouville integral) gðxðtÞÞ ¼ ðg 1 ðx1 ðtÞÞ,g 2 ðx2 ðtÞÞ, . . . ,g n ðxn ðtÞÞÞT denote the activation
D a þ function of the neurons; C, A, B are constant matrices;
t0 ,t with fractional order a A R of function x(t) is defined as
Z t C ¼ diagðci 4 0Þ represents the rate with which the ith unit will
a 1
D
t0 ,t xðtÞ ¼ ðttÞa1 xðtÞ dt, ð1Þ reset its potential to the resting state in isolation when discon-
GðaÞ t0 nected from the network and external inputs. A ¼ faij g and B ¼ fbij g
R1
where GðÞ is the gamma function, GðtÞ ¼ 0 t t1 et dt. are referred to the connection of the jth neuron to the ith neuron at
time t and tt, respectively, where t is the transmission delay and
Definition 2. The Riemann–Liouville derivative of fractional a nonnegative constant. I ¼ ðI1 ,I2 , . . . ,In ÞT is an external bias vector.
order a of function x(t) is given as Here, the initial conditions associated with system (7) are of
n n Z t the form
a d ðnaÞ d 1
RL Dt 0 ,t xðtÞ ¼ n Dt 0 ,t xðtÞ ¼ n ðttÞðna1Þ xðtÞ dt, ð2Þ
dt dt GðnaÞ t0 xi ðtÞ ¼ fi ðtÞ, fi ð0Þ ¼ 0, t A ½t,0, iA N, ð9Þ
þ
where n1 o a o n A Z . where it is usually assumed that fi ðsÞ A Cð½t,0,RÞ, i A N, and the
norm of Cð½t,0,RÞ is denoted by
Definition 3. The Caputo derivative of fractional order a of P
JfðtÞJ ¼ ni¼ 1 supt A ðt,0 fet 9fi ðtÞ9g.
function x(t) is defined as follows:
n Z t Definition 4. The solution of system (7) is said to be stable if for any
a ðnaÞ d 1
D
C t 0 ,t xðtÞ ¼ D t0 ,t n xðtÞ ¼ ðttÞðna1Þ xðnÞ ðtÞ dt, ð3Þ e 40 there exists dðt0 , eÞ 40 such that t Zt 0 Z 0, JjðtÞfðtÞJ o d
dt GðnaÞ t0
imply Jyðt,t 0 , jÞxðt,t 0 , fÞJ o e for any two solutions xðt,t 0 , fÞ and
yðt,t 0 , jÞ. It is uniformly stable (US) if the above d is independent of t0.
where n1 o a o n A Z þ .
In order to obtain the main results, here, we make the following
Based on the definition of integral derivative and the above assumptions.
expressions (2) and (3), it is recognized that the integral derivative
of a function is only related to its nearby points, while the fractional Assumption 1. The neuron activation functions fj, gj are Lipschitz
derivative has relationship with all of the function history informa- continuous. That is, there exist positive constants F j ,Gj
tion. That is, the next state of a system not only depends upon its ðj ¼ 1,2, . . . ,nÞ such that
current state but also upon its historical states starting from the
initial time. As a result, a model described by fractional-order
equations possess memory. It precisely described the state of 9f j ðuÞf j ðvÞ9 oF j 9uv9, 9g j ðuÞg j ðvÞ9 oGj 9uv9 8u,v A R: ð10Þ
Please cite this article as: L. Chen, et al., Dynamic analysis of a class of fractional-order neural networks with delay, Neurocomputing
(2013), http://dx.doi.org/10.1016/j.neucom.2012.11.034i
L. Chen et al. / Neurocomputing ] (]]]]) ]]]–]]] 3
X
n Z t
Assumption 2. ci ,aij ,bij ,F j and Gj satisfy the following condition: 1
þ 9bij 9Gj ðtsÞa1 eðts þ tÞ eðstÞ 9jj ðstÞfj ðstÞ9 ds
JAn J þ JBn J o c, ð11Þ j¼1
GðaÞ 0
where X
n Z t
1
þ 9bij 9Gj ðtsÞa1 eðts þ tÞ eðstÞ 9yj ðstÞxj ðstÞ9 ds
X
n X
n
j¼1
GðaÞ t
JAn J ¼ 9ani 9 ¼ maxf9aij 9Lj g, c ¼ minf1cmax ,cmin g,
i¼1 i¼1
8j Z t
1
cmax ¼ maxfci g, cmin ¼ minfci g, r ci supfet 9yi ðtÞxi ðtÞ9g ua1 eu du
8i 8i t GðaÞ 0
X
n X
n X
n Z t
1
9bi 9 ¼ maxf9bij 9Gj g: supfet 9yj ðtÞxj ðtÞ9g ua1 eu du
n
JBn J ¼ þ ani
i¼1 i¼1
8j
j¼1 t GðaÞ 0
X
n Z 0
1
þ 9bij 9Gj ðtgtÞa1 eðtgÞ eg 9jj ðgÞfj ðgÞ9 dg
3. Main results j¼1
GðaÞ t
X
n Z tt
1
In this section, a sufficient condition for uniform stability of a þ 9bij 9Gj ðtgtÞa1 eðtgÞ eg 9yj ðgÞxj ðgÞ9 dg
j¼1
GðaÞ 0
class of fractional-order delayed neural networks, and the exis-
Z t
tence and uniqueness, uniform stability of equilibrium point are 1
r ci supfet 9yi ðtÞxi ðtÞ9g ua1 eu du
proposed, respectively. t GðaÞ 0
X
n Z t
1
3.1. Uniform stability þ ani supfet 9yj ðtÞxj ðtÞ9g ua1 eu du
j¼1 t GðaÞ 0
X
n Z t
1
Theorem 1. If assumptions (A1) and (A2) hold, then the system (7) þ bi
n
supfet 9jj ðtÞfj ðtÞ9get ya1 ey dy
j¼1 t Gð aÞ t t
is uniformly stable. Z tt
Xn
1
Proof. Assume that xðtÞ ¼ ðx1 ðtÞ, . . . ,xn ðtÞÞT and
n
þ bi supfet 9yj ðtÞxj ðtÞ9get ya1 ey dy
j¼1 t
GðaÞ 0
yðtÞ ¼ ðy1 ðtÞ, . . . ,yn ðtÞÞT are any two solutions of (7) with the
different initial condition xi ðsÞ ¼ fi ðsÞ A Cð½t,0,RÞ, fi ð0Þ ¼ 0, X
n
r ci supfet 9yi ðtÞxi ðtÞ9g þani supfet 9yj ðtÞxj ðtÞ9g
yi ðsÞ ¼ ji ðsÞ A Cð½t,0,RÞ, ji ð0Þ ¼ 0,iA N, one has t j¼1 t
X
n X
n
Da ðyi ðtÞxi ðtÞÞ ¼ ci ðyi ðtÞxi ðtÞÞ þ supfet 9jj ðtÞfj ðtÞ9get
n
aij ðf j ðyj ðtÞÞf j ðxj ðtÞÞÞ þ bi
j¼1 j¼1 t
X
n X
n
bij ðg j ðyj ðttÞÞg j ðxj ðttÞÞÞ, supfet 9yj ðtÞxj ðtÞ9get
n
þ iA N: ð12Þ þ bi
j¼1 j¼1 t
Based on Lemma 1, the solution of the system (12) can be r ci supfet 9yi ðtÞxi ðtÞ9g þani JyðtÞxðtÞJ
t
expressed in the following form: n n
2 þ bi JyðtÞxðtÞJ þ bi JjðtÞfðtÞJ: ð14Þ
X
n
yi ðtÞxi ðtÞ ¼ Da 4ci ðyi ðtÞxi ðtÞÞ þ aij ðf j ðyj ðtÞÞf j ðxj ðtÞÞÞ From (14), one obtains
j¼1 X
n
3 JyðtÞxðtÞJ ¼ supfet 9yi ðtÞxi ðtÞ9g
X
n
t
þ bij ðg j ðyj ðttÞÞg j ðxj ðttÞÞÞ5 i¼1
Please cite this article as: L. Chen, et al., Dynamic analysis of a class of fractional-order neural networks with delay, Neurocomputing
(2013), http://dx.doi.org/10.1016/j.neucom.2012.11.034i
4 L. Chen et al. / Neurocomputing ] (]]]]) ]]]–]]]
x1(t),x2(t)
¼ 9 aij f j f j
i¼1 j¼1
c j cj
X
n
uj vj 0.5
þ bij g j g j 9
j¼1
c j cj
0 1
X
n Xn
ðaij F j þ bij Gj Þ 0
r @ 9uj vj 9A
i¼1 j¼1
cj
0 1
X
n n
ðan þ bi Þ X
n −0.5
r i @ 9uj vj 9A 0 20 40 60 80 100
i¼1
cmin j¼1 time(s)
4. Numerical example
Acknowledgments
In this section, a numerical example is presented to illustrate
our results. This work was supported by the National Natural Science
Consider the following two-state fractional-order delayed Foundation of China (Nos. 60974090, 61104080, 61203321),
Hopfield neural networks model described by: the Fundamental Research Funds for the Central Universities
8 a (No. CDJXS12170001), the Specialized Research Fund for the
>
> D x1 ðtÞ ¼ 0:25x1 ðtÞ0:05f ðx1 ðtÞÞ þ 0:01f ðx2 ðtÞÞ Doctoral Program of Higher Education of China (No. 2009-
>
>
< 0:01f ðx1 ðttÞÞ þ 0:02f ðx2 ðttÞÞ0:1, 3401120001), the Chongqing Natural Science Foundation (CSTC,
ð22Þ
>
> Da x2 ðtÞ ¼ 0:2x2 ðtÞ þ 0:02f ðx1 ðtÞÞ0:01f ðx2 ðtÞÞ 2010BB2065), the Natural Science Foundation of Anhui Province
>
>
: þ0:02f ðx ðttÞÞ þ 0:01f ðx ðttÞÞ þ 0:4, (No. 11040606M12), the Natural Science Foundation of Anhui
1 2
Education Bureau (No. KJ2010A035), Ph.D. Candidate Academic
where a ¼ 0:8, the activation function is described by a PWL Foundation of Ministry of Education of China and the 211 project of
function f ðxj ðtÞÞ ¼ f j ðxj ðtÞÞ ¼ g j ðxj ðtÞÞ ¼ 0:5ð9x þ 199x19Þðj ¼ 1,2Þ, Anhui University (No. KJJQ1102)
Please cite this article as: L. Chen, et al., Dynamic analysis of a class of fractional-order neural networks with delay, Neurocomputing
(2013), http://dx.doi.org/10.1016/j.neucom.2012.11.034i
L. Chen et al. / Neurocomputing ] (]]]]) ]]]–]]] 5
Please cite this article as: L. Chen, et al., Dynamic analysis of a class of fractional-order neural networks with delay, Neurocomputing
(2013), http://dx.doi.org/10.1016/j.neucom.2012.11.034i