Fractional derivatives of convex Lyapunov functions and control problems in fractional order systems

Abstract

Abstract The paper is devoted to the development of control procedures with a guide for fractional order dynamical systems controlled under conditions of disturbances, uncertainties or counteractions. We consider a dynamical system which motion is described by ordinary fractional differential equations with the Caputo derivative of an order α ∈ (0, 1). For the case when the guide is, in a certain sense, a copy of the system, we propose a mutual aiming procedure between the original system and guide. The proof of proximity between motions of the systems is based on the estimate of the fractional derivative of the superposition of a convex Lyapunov function and a function represented by the fractional integral of an essentially bounded measurable function. This estimate can be considered as a generalization of the known estimates of such type. We give an example that illustrates the workability of the proposed control procedures with a guide.