Adaptive Sliding Mode Control of a Novel Class of Fractional Chaotic Systems

Figure 6

Adaptive sliding mode control of the fractional Chen’s system with dynamics uncertainty and external disturbance with simulation time 𝑇_sim=5s and time step ℎ=0.0005: (a) the 𝑥−𝑡 space; (b) the 𝑦−𝑡 space; (c) the 𝑧−𝑡 space; (d) the 𝑢−𝑡 space; (e) online estimate of 𝜃₁; (f) online estimate of 𝜃₂.

(a)

(b)

(c)

(d)