Adaptive Synchronization in Complex Network with Different Order Node Dynamics

This paper investigates the adaptive cluster synchronization in the complex networks with different orders. By means of Lyapunov stability theory and the adaptive control technique, a novel adaptive synchronization controller is developed. To demonstrate the validity of the proposedmethod, the examples for the synchronization of systems with the chaotic and hyperchaotic node dynamics are presented.


Introduction
In the past few years, complex networks have attracted more and more attention; examples of complex networks include the Internet, social networks, biological networks, organizational networks, neural networks, and many others [1][2][3][4][5][6].
A complex network can be seen as a large set of interconnected nodes and used to describe various systems with specific contents.Synchronization constitutes one of the most prevalent collective dynamics in complex networked systems.Until now, several types of synchronization have been investigated, such as phase synchronization and complete synchronization [7][8][9], projective synchronization [10][11][12][13], and function projective synchronization [14].
In general, there are two main factors devoting to network synchronization.One is the isolated node dynamics, and the other is the complicated network topology.In almost all the existing literature, a common assumption is that all nodes are identical.It should be noted that complex networks consisting of different nodes are ubiquitous in various fields.In the present paper, we focus on cluster synchronization where the local dynamics of the nodes in each group differ.
Here by a group we mean a collection of systems that have the same dynamics, with any given group consisting of systems with dynamics that is different from the dynamics of systems in the other groups.Specifically, in many technological, social, and biological networks, which can be divided naturally into several groups by certain rules, nodes in the same group often have the same type of function.The phenomenon of cluster synchronization is observed when an ensemble of oscillators splits into groups of synchronized elements.Up to now, much research effort has been devoted to investigating the cluster synchronization of complex dynamical networks [15,16].In [17], researchers studied the cluster synchronization for directed community networks via pinning partial schemes.However, the cluster synchronization where the local dynamics of the nodes in each group differ is a more interesting topic.To date, very little research effort has been done about the generalization cluster synchronization.
The organization of this paper is organized as follows.Model of complex network with community structure is given in Section 2. In Section 3, based on the Lyapunov stability theory, an adaptive nonlinear controller is developed for synchronization of complex networks with different orders.Section 4 shows the validity of the proposed synchronization scheme through numerical simulations.Finally, the conclusions of this paper are drawn in Section 5.

Model Description
Consider a dynamical network with  community of coupled chaotic oscillators; also the local dynamics can be different for each community but must be identical for all nodes in the same community.Suppose that the th community is composed of   nodes.The dynamical variables of the nodes in each community are then given by    ∈    .For better describing this kind of community network, a community network model with different orders is introduced.Figure 1 shows topology structure of the complex networks with three communities.

Synchronization Scheme
First, we will present some useful assumptions for deriving the main results.Assumption 1.Each block matrix  V (, V = 1, 2 . . ., ) in ( 2) is zero row sum matrix.
In the following, we introduce a scheme to achieve the cluster synchronization in colored network with community structure and adaptive coupling strengths.According to the above definition of the error variables and suppose that Assumption 2 holds, one can obtain () = 0,  = 1, . . .,   , ,  = 1, . . ., ,  ̸ = . ( So the error dynamical system as follows: In order to achieve cluster synchronization in the colored network (3), the controller is designed as follows via pinning control: where  > 0,   > 0 are the adaptive gain, and feedback gain, respectively.
Theorem 3. Suppose that Assumption 1 holds; the cluster synchronization can be realized under controller (7).
Proof.Consider the following Lyapunov function: The derivative of () along the trajectories of ( 7) can be calculated as follows: For any edge (, ) ∈ , there exists a positive constant   larger than the corresponding coupling strength   ; that is, Also, one can choose sufficiently large positive constants   ; that is, V < 0.

Numerical Simulations
Consider the community network shown in Figure 1 as an example to illustrate the effectiveness of the derived results.
Choose the node dynamics of the first community as the following hyperchaotic Chen system: with  = 1, 2, . . ., 5. The node dynamics of the second community as chaotic Lorenz system with  = 6, 7, . . ., 10. Figures 2, 3, and 4 depict the node's dynamic in different communities, respectively.
The node dynamics of the third community as hyperchaotic Lorenz system with  = 11, 12, . . ., 16 For simplicity, the outer and inner coupling matrices are as follows: (1) for nodes ,  belong to the same community and there exist a connection between the nodes, then   =   = 1; (2)  11 =  33 =  4 ,  22 =  3 .

Conclusions
In this paper, synchronization of a community network with different order node dynamics is investigated.Both adaptive feedback control and stability theory are adopted to design proper controllers.Adaptive feedback controllers were designed for achieving cluster synchronization based on the Lyapunov stability theory.Finally, numerical examples were provided to illustrate the effectiveness of the theoretical results.

Figure 1 :
Figure 1: Topology structure of the complex networks with three communities.

Figure 2 :Figure 3 :
Figure 2: The node's dynamic in the first community.

Figure 4 :Figure 5 :
Figure 4: The node's dynamic in the third community.

Figure 6 :
Figure 6: The orbits of state variable and synchronization errors in the second community.

Figure 7 :
Figure 7: The orbits of state variable and synchronization errors in the third community.