1 Erratum to: Nonlinear Dyn (2015) 82:899–908 DOI 10.1007/s11071-015-2204-0

In the original article, a typing error occurs in each second equation of the set of Eqs. (9)–(11). One should add \(-sh\left( x_1\right) \), \(-sh\left( x_2\right) \) and \(-sh\left( x_3\right) \), respectively, on each of these three equations as they are the copies of Eq. (7).

The results of the article remain the same as the simulations were carried out with the good equations.