stabilizing unknown unstable periodic orbits of...
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Stabilizing unknown unstable periodic orbits of chaotic spiking oscillators
Tadashi Tsubone
Nagaoka University of Technology
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Chaos control : Stabilizing Unstable Periodic Obit (Chaos control : Stabilizing Unstable Periodic Obit (Chaos control : Stabilizing Unstable Periodic Obit (Chaos control : Stabilizing Unstable Periodic Obit (OttOttOttOtt, , , , GrebogiGrebogiGrebogiGrebogi, , , , YorkeYorkeYorkeYorke, 1990), 1990), 1990), 1990)
--------Delayed Feedback Control (DFC) (Delayed Feedback Control (DFC) (Delayed Feedback Control (DFC) (Delayed Feedback Control (DFC) (PyragasPyragasPyragasPyragas, 1992) , 1992) , 1992) , 1992)
Stabilizing Unknown Steady StatesStabilizing Unknown Steady StatesStabilizing Unknown Steady StatesStabilizing Unknown Steady States : ( without location information ) : ( without location information ) : ( without location information ) : ( without location information )
--------Stabilizing and tracking unknown steady statesStabilizing and tracking unknown steady statesStabilizing and tracking unknown steady statesStabilizing and tracking unknown steady states( for Continuous time ( for Continuous time ( for Continuous time ( for Continuous time system) (system) (system) (system) (PyragasPyragasPyragasPyragas, 2002) , 2002) , 2002) , 2002)
--------Generalized Washout filterGeneralized Washout filterGeneralized Washout filterGeneralized Washout filter----aided control aided control aided control aided control (for Continuous and discrete time system(for Continuous and discrete time system(for Continuous and discrete time system(for Continuous and discrete time system)))) ((((HassounehHassounehHassounehHassouneh, et al. 2004), et al. 2004), et al. 2004), et al. 2004)
Introduction (1/2) 1
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Spiking neuron model:Spiking neuron model:Spiking neuron model:Spiking neuron model:
--------IntegratedIntegratedIntegratedIntegrated----andandandand----fire neuronfire neuronfire neuronfire neuron
--------ResonantResonantResonantResonant----andandandand----fire neuron (fire neuron (fire neuron (fire neuron (IzhikevichIzhikevichIzhikevichIzhikevich, 2001), 2001), 2001), 2001)
Chaotic Spiking OscillatorChaotic Spiking OscillatorChaotic Spiking OscillatorChaotic Spiking Oscillator : (with impulsive switch and jump operation) : (with impulsive switch and jump operation) : (with impulsive switch and jump operation) : (with impulsive switch and jump operation)
--------2222----D Piecewise linear model (D Piecewise linear model (D Piecewise linear model (D Piecewise linear model (MitsuboriMitsuboriMitsuboriMitsubori and T.Saito, 1997)and T.Saito, 1997)and T.Saito, 1997)and T.Saito, 1997)
--------2222----D Piecewise constant model (D Piecewise constant model (D Piecewise constant model (D Piecewise constant model (TsuboneTsuboneTsuboneTsubone, W. Schwarz and T.Saito, 1999), W. Schwarz and T.Saito, 1999), W. Schwarz and T.Saito, 1999), W. Schwarz and T.Saito, 1999)
Introduction (2/2) 2
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Contents
1.1.1.1. 3333----D Simple Chaos Spiking OscillatorD Simple Chaos Spiking OscillatorD Simple Chaos Spiking OscillatorD Simple Chaos Spiking Oscillator (2D + switch)(2D + switch)(2D + switch)(2D + switch)-------- Piecewise linear 1Piecewise linear 1Piecewise linear 1Piecewise linear 1----D return map D return map D return map D return map
2.2.2.2. Controlled CSOControlled CSOControlled CSOControlled CSO-------- Generation of ``Stabilized Unstable Periodic ObitsGeneration of ``Stabilized Unstable Periodic ObitsGeneration of ``Stabilized Unstable Periodic ObitsGeneration of ``Stabilized Unstable Periodic Obits’’ of CSOof CSOof CSOof CSO
-------- Almost completely analysis for stability and existence Almost completely analysis for stability and existence Almost completely analysis for stability and existence Almost completely analysis for stability and existence
3.3.3.3. 4444----D Simple Chaos Spiking OscillatorD Simple Chaos Spiking OscillatorD Simple Chaos Spiking OscillatorD Simple Chaos Spiking Oscillator (3D + switch)(3D + switch)(3D + switch)(3D + switch)-------- from 3from 3from 3from 3----D CSOD CSOD CSOD CSO-------- ````````resonant and integratedresonant and integratedresonant and integratedresonant and integrated’’ and fire model?and fire model?and fire model?and fire model?
TodayTodayTodayToday’s talk :s talk :s talk :s talk :
Controlled Chaotic Spiking Oscillator Controlled Chaotic Spiking Oscillator Controlled Chaotic Spiking Oscillator Controlled Chaotic Spiking Oscillator with ``Stabilized Uncertainwith ``Stabilized Uncertainwith ``Stabilized Uncertainwith ``Stabilized Uncertain----Unstable Periodic ObitsUnstable Periodic ObitsUnstable Periodic ObitsUnstable Periodic Obits’’
3
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Simple chaotic spiking oscillator
2g1g
2v1v1c
2c I
..MM
1
1S
S
2i1i
1Cc
AND
Ivvgt
vc
vgt
vc
+−=
=
)(d
dd
d
1222
2
211
1
Dynamics:
1v
2v
0
0
V/div.][2
V/div.][2
If and , then the voltage is reset to the inverse voltage instantaneously.
02 =v 01 <v 1v
1v−
2v
1v
V/div.][2ms/div.][2t
4
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Simple chaotic spiking oscillator
2g1g
2v1v1c
2c I
..MM
1
1S
S
2i1i
1Cc
AND
If and , then the voltage is reset to the inverse voltage instantaneously.
0=y 0<x x
x−
),,10(
12
21 vyvx
xyy
yx
∝∝<<+−=
=
δδɺ
ɺ
Dynamics:
x
x
y
0 12+
12+
12−−12−−
01−
x
y
10
)( nTx
)( +nTx
5
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Simple chaotic spiking oscillator
),(
12
21 vyvx
xyy
yx
∝∝+−=
=δɺ
ɺ
Dynamics:
1v
2v
0
0
V/div.][2
V/div.][2
If and , then jumps to . 0=y 0<x x x−
6
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{ }0,01|),( =≤≤−= yxyxl
)2()(
))exp((,:
1 <=
=→
+ axfx
allf
nn
ωδπ
−≤<−
++−
−≤<−
++−
≤<−
++−
=
−
+
⋮
⋮
11
11
for
1)1(
11
11
for
1)1(
011
for
1)1(
1
12
2
1
1
1
kkk
kk
n
k
n
n
n
ax
a
xa
ax
a
xa
xa
xa
x
x
y
nx 10
1+nx
0
0
nx
1+nx
1−1−
0
0
nx
1+nx
1−1−
1+−A
1px
2px
3px
8.1=a 2→a)(:PointFixed pxpx xfx =
Embedded Return Map 7
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Controlled Oscillator
2g1g
2v1v1c
2c
1
1S
K
1S
1
S
0Cv
1Cv
2i1i
1Cc
0Cc
..MM
AND
If and ,
then the voltageis reset to the
inverse voltage instantaneously.
( is a control parameter. )
02 =v 01 <v
1v
1Cv−
K
KvvKv CC 011 )1( +−=
),(
12
21 vyvx
xyy
yx
∝∝+−=
=δɺ
ɺ
0
1 )1(
Cn
nnn
vz
KzxKz
∝+−=+
8
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Controlled Return Map
Return map:
nnn KzzfKz +−=+ )()1(1
).( assuch ofpoint fixed a is
1)(
)1(
pkpkpk
xzn
n
xfxfx
Kz
zfK
pkn
=
<+∂
∂−=
Condition for stability:
x
y
x
y
kz
1+kz
3
2=K
0
0
1−1−
0
0
1−1− x
y
0 12+
12+
12−−12−−
01−
0=K
kz
1+kz
x
y
1
0
nx
nz
1+nz
1+nz
nznnn KzxKz +−=+ )1(1
)(:PointFixed pxpx xfx =
)( nn zfx =
9
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Laboratory measurements
1v
2v
0
0
V/div.][2
V/div.][2
2v
1v
V/div.][2
ms/div.][2t
1v
2v
0
0
V/div.][2
V/div.][2
2v
1v
V/div.][2
ms/div.][2t
1v
2v
0
0
V/div.][2
V/div.][2
2v
1v
V/div.][2
ms/div.][2t
0
0
nz
1+nz
1−1−
0
0
nz
1+nz
1−1−
0
0
nz
1+nz
1−1−
0
0
nz
1+nz
1−1−
8.1=a
0=K 4.0=K
65.0=K 8.0=K
10
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Bifurcation Diagram
0
0
nz
1+nz
1−1−
0
0
nz
1+nz
1−1−
0
0
nz
1+nz
1−1−
0
0
nz
1+nz
1−1−
8.1=a
0=K 4.0=K
65.0=K 8.0=K
1
1
20
a
K
1I
2I
3I 4I
KA
A =+−
1
1
AA
A −=+−
11
13
3
KA
A =+−
1
12
2
(d)
(c)
(b)
(a)
KA
A =+−
1
13
3
(a) (b)
(c) (d)
chaos
11
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4444----D Simple Chaos Spiking Oscillator (3D + switch)D Simple Chaos Spiking Oscillator (3D + switch)D Simple Chaos Spiking Oscillator (3D + switch)D Simple Chaos Spiking Oscillator (3D + switch)
12
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4-D chaotic spiking oscillator
If and , then the voltage is reset to the inverse voltage instantaneously.
02 =v 13 vv > ),( 31 vv
),( 31 vv −−
2g1g
2v1v1c 2c
I1
1S
S
1xv
2i1i
1xc
..MM
AND
3g
3v3c
1
1S
S
1zv1zc KI
),,(
12
321 vzvyvx
Kzz
xyy
yx
∝∝∝+=
+−==
λδ
ɺ
ɺ
ɺ
Dynamics:
13
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4-D chaotic spiking oscillator
If and , then the voltage is reset to the inverse voltage instantaneously.
0=y xz > ),( zx
),( zx −−
),( nn zx −−
),( nn zx
),( 00 zx
y
x
z
),0,1(λK
Jump
),,(
12
321 vzvyvx
Kzz
xyy
yx
∝∝∝+=
+−==
λδ
ɺ
ɺ
ɺ
Dynamics:
14
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4-D chaotic spiking oscillator
If and , then the voltage is reset to the inverse voltage instantaneously.
0=y xz > ),( zx
),( zx −−
),,(
12
321 vzvyvx
Kzz
xyy
yx
∝∝∝+=
+−==
λδ
ɺ
ɺ
ɺ
Dynamics:
x
x
y
0 7
7
7−7−
0
x
z
0 7
7
7−7−
0
z
τSpike
15
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4-D chaotic spiking oscillator
If and , then the voltage is reset to the inverse voltage instantaneously.
0=y xz > ),( zx
),( zx −−
1v
2v
0
0
1v
3v
0
0
τ
1v
3v
),,(
12
321 vzvyvx
Kzz
xyy
yx
∝∝∝+=
+−==
λδ
ɺ
ɺ
ɺ
Dynamics:
16
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),(),(
),exp(
)exp(,:
11 nnnn zxfzx
Kcb
af
=
==
=→
++
λωλπ
ωδπ
{ } ccxab
zCczbz
xaxn
kkn
nk
n
nk
n ++−+−<++=
+−−=
+
+ )1()1()(1
for)(
1)1(
1
1
Embedded Return Map
),( nn zx −−
y
x
z
),0,1(λK
Jump
),( 11 ++ nn zx
x
z
0 5
5
5−5−
0
x
z
0 5
5
5−5−
0( )),(),(:PointFixed pxpxpxpx zxfzx =
),( nn zx
17
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Controlled Oscillator
2g1g
2v1v1c 2c I
1
1
K
1S
1
S
0xv
1xv
2i1i
1xc
0xc
..MM
AND
3g
3v3c
1
1S
1zv1zc
KI
K
1S
1
S
0zv0zc
1v
2v
1v
3v
τ
1v
3v
-- Controlling Hyperchaos
-- Stabilizing Unknown UPO of 4-D system
18
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1.1.1.1. 3333----D Simple Chaos Spiking OscillatorD Simple Chaos Spiking OscillatorD Simple Chaos Spiking OscillatorD Simple Chaos Spiking Oscillator (2D + switch)(2D + switch)(2D + switch)(2D + switch)-------- Piecewise linear 1Piecewise linear 1Piecewise linear 1Piecewise linear 1----D return map D return map D return map D return map
2.2.2.2. Controlled CSOControlled CSOControlled CSOControlled CSO-------- Generation of ``Stabilized Unstable Periodic ObitsGeneration of ``Stabilized Unstable Periodic ObitsGeneration of ``Stabilized Unstable Periodic ObitsGeneration of ``Stabilized Unstable Periodic Obits’’ of CSOof CSOof CSOof CSO
-------- Almost completely analysis for stability and existence Almost completely analysis for stability and existence Almost completely analysis for stability and existence Almost completely analysis for stability and existence
3.3.3.3. 4444----D Simple Chaos Spiking OscillatorD Simple Chaos Spiking OscillatorD Simple Chaos Spiking OscillatorD Simple Chaos Spiking Oscillator (3D + switch)(3D + switch)(3D + switch)(3D + switch)-------- from 3from 3from 3from 3----D CSO to higher order CSOD CSO to higher order CSOD CSO to higher order CSOD CSO to higher order CSO-------- ````````resonant and integratedresonant and integratedresonant and integratedresonant and integrated’’ and fire model?and fire model?and fire model?and fire model?
Conclusions 19
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Stabilizing Unknown Steady StateStabilizing Unknown Steady StateStabilizing Unknown Steady StateStabilizing Unknown Steady State of continuous-time systems(Pyragas, 2002)
Introduction (2/4)
),0(
)(
f
f
x
xxx
>
−=
λλɺ
Object (1-D linear unstable system):
)(
)()(
xww
xwkxxxC
f
−=
−+−=
λ
λ
ɺ
ɺ
Controlled system:
),(),( ff xxwx =
is unknown
is a fixed point.
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Washout filterWashout filterWashout filterWashout filter----aided control for Stabilizing Unknown Steady Stateaided control for Stabilizing Unknown Steady Stateaided control for Stabilizing Unknown Steady Stateaided control for Stabilizing Unknown Steady Stateof continuous- and discrete-time systems
(Hassouneh, et al. 2004)
Introduction (4/4)
) : (
)denotes(
)(
)(
f
f
x
xxx
zxKu
zxPz
BuAxx
−−=−=
+=ɺ
ɺ
Continuous-Time System
equilibrium point ) : (
)denotes(
)(
)(1
1
f
fkk
kkk
kkk
kkk
x
xxx
zxGu
zPIPxz
BuAxx
−−=
−+=+=
+
+
Discrete-Time System
fixed point
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Stabilizing Unknown Steady StateStabilizing Unknown Steady StateStabilizing Unknown Steady StateStabilizing Unknown Steady State of discrete-time systems(Tsubone, 2003)
Introduction (3/4)
)(1 kk xFx =+
)( ff xFx = kkk
kkk
KyxKy
KyxKFx
+−=+−=
+
+
)1(
))1((
1
1
Object ( n-D nonlinear system):
( is unknown )
Controlled system:
is a fixed point. ),(),( ffnn xxyx =
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)(1 kk xFx =+
)( ff xFx =
−−
=
+
+
k
k
k
k
y
x
KK
AKKA
y
x
ˆ
ˆ
1
)1(
ˆ
ˆ
1
1
fxxxF
xA n
=∂∂≡ )(
fkk
fkk
xyy
xxx
−≡−≡
ˆ
ˆ
Local linearization
Stabilizing Unstable Fixed Point
kkk
kkk
KyxKy
KyxKFx
+−=+−=
+
+
)1(
))1((
1
1
Object ( n-D nonlinear system):
is unknown
Controlled system:
is a fixed point. ),(),( ffkk xxyx =kx
F K
1−Z
1−Zky1+ky
),,(
]][[ 1
nnRIAK
AIAIK×
−
∈
−−=
λ
λ
Control Gain :