Hindawi

Mathematical Problems in Engineering

Volume 2019, Article ID 6908607, 12 pages
https://doi.org/10.1155/2019/6908607

Research Article
Hidden Coexisting Attractors in a Fractional-Order System
without Equilibrium: Analysis, Circuit Implementation, and
Finite-Time Synchronization

Guangchao Zheng ,1,2,3 Ling Liu,1,2 and Chongxin Liu1,2

1
State Key Laboratory of Electrical Insulation and Power Equipment, Xi’an Jiaotong University, Xi’an 710049, China
2
School of Electrical Engineering, Xi’an Jiaotong University, Xi’an 710049, China
3
Baoding Power Supply Branch of State Grid Hebei Electric Power Supply Co. Ltd., Baoding 071000, China

Correspondence should be addressed to Guangchao Zheng; [email protected]

Received 24 February 2019; Revised 5 June 2019; Accepted 3 July 2019; Published 22 July 2019

Academic Editor: Ivo Petras

Copyright © 2019 Guangchao Zheng et al. This is an open access article distributed under the Creative Commons Attribution
License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly
cited.

In this paper, a novel three-dimensional fractional-order chaotic system without equilibrium, which can present symmetric hidden
coexisting chaotic attractors, is proposed. Dynamical characteristics of the fractional-order system are analyzed fully through
numerical simulations, mainly including finite-time local Lyapunov exponents, bifurcation diagram, and the basins of attraction. In
particular, the system can generate diverse coexisting attractors varying with different orders, which presents ample and complex
dynamic characteristics. And there is great potential for secure communication. Then electronic circuit of the fractional-order
system is designed to help verify its effectiveness. What is more, taking the disturbances into account, a finite-time synchronization
of the fractional-order chaotic system without equilibrium is achieved and the improved controller is proven strictly by applying
finite-time stable theorem. Eventually, simulation results verify the validity and rapidness of the proposed method. Therefore, the
fractional-order chaotic system with hidden attractors can present better performance for practical applications, such as secure
communication and image encryption, which deserve further investigation.

1. Introduction points. In contrast, the attractors are defined as hidden

attractors if its basins of attraction do not touch any unsta-
Since Lorenz system [1] was put forward in the 1960s, chaos ble equilibrium point. The current literatures indicate that
theory has made a great leap forward and researchers have hidden attractors originate from several types of particular
never ceased to delve deeply into it. Among them, three- dynamical systems. And to be specific, the dynamical systems
dimensional autonomous chaotic systems are investigated with one stable equilibrium [8, 9], a line equilibrium [10, 11],
most extensively at home and abroad, such as Rössler system or no equilibrium [12–15] can all fall into this category. Even
[2], Chen system [3], Lü system [4], and Liu system [5]. there are hidden attractors found in some special chaotic
And these chaotic systems have achieved comprehensive systems [16] which have both unstable equilibrium and stable
application in real life, including secure communication, equilibria. It is the presence of hidden attractors that pose
image encryption, medicine, and aerospace. a new challenge to Shilnikov criteria which illustrate that
In recent years, however, increasing attention has been no less than one unstable equilibrium is needed to generate
paid to hidden attractors, which were discovered first in chaos. Meanwhile, with the lack of correlation between
the Chua’circuit [6]. For those conventional chaotic systems hidden attractors and equilibria, precise localization of these
above, their attractors are called self-excited attractors [7], unpredictable attractors can be of great intractability. In
whose basins of attraction can intersect unstable equilibrium addition, it also has been a focus of concern about coexistence
2 Mathematical Problems in Engineering

of hidden attractors [17–20], which presents more complex In definition (1), n is the first integer which is not less than
and diverse dynamic behavior, and enhances the security q and 𝑛 − 1 < 𝑞 < 𝑛; Γ(⋅) is the Gamma function.
ability in the field of cryptography application.
However, the existing research findings about hidden 2.2. The Fractional-Order Chaotic System Model without
attractors have been mostly focused on integer-order dynam- Equilibrium. Sprott A system [31] is a three-dimensional
ical systems and relatively few efforts have been done for conservative system and it has no equilibrium which depends
fractional-order systems with hidden attractors [16, 21–24]. on its third equation (1 − 𝑦2 ). Based on Sprott A system, we
The latter are worthy of further investigation owing to construct a new 3D fractional-order chaotic system without
excellent characteristics of fractional calculus. To begin with, equilibrium by imposing nonlinear functions associated with
fractional-order systems, a further generalization, are more variables x and y on the third equation of Sprott A system,
applicable by contrast with integer-order systems. Indeed, it which can generate diverse coexisting attractors, described as
can be said integer-order systems are the particular case of
fractional-order systems and the idealization of real matter. d𝑞 𝑥
=𝑦
Accordingly, fractional-order systems can describe the physi- d𝑡𝑞
cal characteristics of the system engineering more clearly and
reflect the essence and law of things in application domain. d𝑞 𝑦
= −𝑥 − 𝑦𝑧 (2)
Then, fractional-order systems have special historical mem- d𝑡𝑞
ory function, which are suitable for describing systems that
d𝑞 𝑧
rely on historical information. Furthermore, they can exhibit = 𝑎𝑥2 + 𝑏𝑦2 + 𝑐𝑥𝑦 + 𝑑
more complex and richer dynamic characteristics, with d𝑡𝑞
parameter selection more flexible. Thus, fractional calculus where the parameters a, b, c, d are real constants, q is the
shows strong potential in practical engineering applications fractional-order and 0 < 𝑞 < 1. When setting the system
[25–28]. parameters and the fractional-order as 𝑎 = 1.2, 𝑏 = 1, 𝑐 = 1,
Based on the above issues, this paper discusses the 𝑑 = −1.3 and 𝑞 = 0.992, the fractional-order system (2) with
fractional-order form of a new 3D symmetric system without initial conditions (𝑥(0), 𝑦(0), 𝑧(0)) = (1, 1, 0) presents hidden
equilibrium and gives emphasis to the influence of the attractors as shown in Figure 1 and system (2) shows four-
order on dynamic behavior of the system. The detailed
wing structure on the x-z plane. The Poincaré map on the
dynamic analysis was carried out, mainly including existence
x-z plane with y=0 shown in the three-dimensional space in
of multiple attractors. And a finite-time synchronization of
Figure 2 also can verify it.
the fractional-order chaotic system with hidden attractors is
realized. It has enormous value for the application of chaos To further confirm the chaotic motion, by the Benettin–
technology in practical engineering field, especially in secure Wolf algorithm, the finite-time local Lyapunov exponents on
communication. the time interval 𝑡 ∈ [0, 1500] with the same initial conditions
This paper is organized as follows. In Section 2, several and parameters as above are shown in Figure 3. And it can be
definitions of fractional-order derivative and the fractional- seen that the largest one of the finite-time local LEs on the
order chaotic system model without equilibrium are intro- time interval 𝑡 ∈ [0, 1500] always maintains to be positive.
duced. In Section 3, dynamic analysis of the system is
carried out at length. Section 4 gives the electronic circuit Remark 1. In numerical simulations, the Lyapunov exponents
implementation results of the fractional-order system with may differ significantly from different trajectories and only a
hidden coexisting attractors. In Section 5, based on the finite- finite-time interval can be considered for their computation.
time stable theorem, a finite-time synchronization of the Therefore, we follow the concept of the finite-time local
proposed system is implemented. Section 6 summarizes the Lyapunov exponents in the article.
conclusions.
3. Dynamic Analysis of the Fractional-Order
2. Fractional-Order Form of the
System without Equilibrium
System without Equilibrium
3.1. Basic Dynamic Properties. For system (2), it is symmetric
2.1. Definitions of Fractional-Order Derivative. So far, a few about the z-axis on account of the coordinate transformation
different definitions [29, 30] of fractional-order derivative (𝑥, 𝑦, 𝑧) 󳨀→ (−𝑥, −𝑦, 𝑧). And if let the right hand side of
have been proposed, such as Grunwald–Letnikov (G-L), system (2) to zero, then it can be written as
Riemann–Liouville (R-L), Caputo, and Conformable defini-
tions. In general, the first three definitions are extensively 𝑦=0
employed and the Caputo definition is more suitable for
engineering applications. In this paper, we conduct the study −𝑥 − 𝑦𝑧 = 0 (3)
on the basis of the Caputo definition, which is given by
𝑎𝑥2 + 𝑏𝑦2 + 𝑐𝑥𝑦 + 𝑑 = 0
𝑡 (𝑛)
𝐶 𝑞 1 𝑓 (𝜏)
𝑎 𝐷𝑡 𝑓 (𝑡) = ×∫ 𝑞+1−𝑛
d𝜏 (1) While 𝑥 = 𝑦 = 0, it is obvious that there is no
Γ (𝑛 − 𝑞) 𝑎 (𝑡 − 𝜏) equilibrium due to 𝑑 ≠ 0. Even so, through the above
Mathematical Problems in Engineering 3

2
4
1
2
0

y
z

0
−1

−2
3 −2
2
0 −3
y 0 −2 −1 0 1 2
x
−3 −2 x
(a) (b)
4 4

3 3

2 2

1 1
z
z

0 0

−1 −1

−2 −2
−2 −1 0 1 2 −3 −2 −1 0 1 2 3
x y
(c) (d)

Figure 1: The chaotic attractor of the fractional-order system (2): (a) x-y-z space; (b) x-y plane; (c) x-z plane; (d) y-z plane.

chaotic characteristics and be regarded as the sort of hidden

attractors.
4
3.2. Bifurcation Analysis of System Parameters. Bifurcation
2 diagram can help us observe the further dynamic behaviors
of the fractional-order system (2). While setting 𝑏 = 1, 𝑐 = 1,
z

𝑑 = −1.3 and 𝑞 = 0.99, the bifurcation diagram and the

0
largest finite-time local LEs varying with the parameter a
are shown in Figures 4 and 5. The performance via period-
−2 doubling bifurcations and hidden coexisting attractors are
3
2
observed in Figure 6. The fractional-order system presents
0 several different symmetric pair of coexisting limit cycles
y 0 for 𝑎 ≤ 1.11. As shown on Figures 6(a) and 6(b), there
x
−3 −2 coexist a symmetric pair of limit cycles with period-1 orbits
and another symmetric limit cycle with period-2 orbits,
Figure 2: 3D Poincaré map of the fractional-order system (2) on the
x-z plane with 𝑦 = 0 (both directions through the cross-section in
respectively. For 𝑎 > 1.11, the fractional system begins to
red and blue, respectively). exhibit obvious chaotic oscillations and hidden coexisting
chaotic attractors while the parameter is not over 1.21 as
shown in Figure 6(c).
When the parameters and fractional-order are chosen as
phase portraits, finite-time local Lyapunov exponents, and 𝑎 = 1.2, 𝑏 = 1, 𝑐 = 1, and 𝑞 = 0.99, the bifurcation diagram
Poincaré map, the fractional-order system can show obvious of state variable x varying with d is provided in Figure 7.
4 Mathematical Problems in Engineering

0.5 0.15

Largest finite-time local LEs

0 0.1
Finite-time local LEs

−0.5 0.05

−1 0

−1.5
0 500 1000 1500 −0.05
0.8 1 1.2 1.4 1.6 1.8
t (s)
Parameter a
Figure 3: Dynamics of the finite-time local LEs of the fractional- Figure 5: Largest finite-time local LEs on the time interval 𝑡 ∈ [0, 1500]
order system (2) with initial conditions (𝑥(0), 𝑦(0), 𝑧(0)) = (1, 1, 0) with the variable parameter a, initial conditions (𝑥(0), 𝑦(0), 𝑧(0)) =
on the time interval 𝑡 ∈ [0, 1500]. (1, 1, 0) (blue) and (𝑥(0), 𝑦(0), 𝑧(0)) = (−1, −1, 0) (red).

2.5

2 as the order is set on 𝑞 > 0.982. And there exists diverse

coexisting attractors under different orders. For 𝑞 = 0.99,
a symmetric pair of strange attractors coexist with different
1.5 initial conditions as shown in Figures 6(c) and 11, and its
x

basins of attractions in the 𝑧 = 0 plane are shown in Figure 10,

where the one kind of chaotic attractor is distinguished from
1
another by red and orange and the yellow region indicates
initial conditions in it can reach unbounded orbits. For 𝑞 =
0.98, there coexists a symmetric pair of limit cycles with
period-4, as shown in Figure 12, and its basins in the 𝑧 = 0
0.5
0.8 1 1.2 1.4 1.6 1.8 plane are provided in Figure 13. Corresponding to the above
Parameter a analysis of basic dynamic properties, the basins have the
similar symmetry about the z-axis.
Figure 4: Bifurcation diagram with the variable parameter a, initial Nevertheless, there are other cases of coexisting attrac-
conditions (𝑥(0), 𝑦(0), 𝑧(0)) = (1, 1, 0) (blue) and (𝑥(0), 𝑦(0), 𝑧(0)) = tors. With order chosen as 𝑞 = 0.999, a strange attractor
(−1, −1, 0) (red).
coexists with a limit cycle as shown in Figures 14 and 16,
whose basins of attractions can be seen in Figure 15. The two
attractors are respectively symmetric with respect to the z-
Similarly, the states of the fractional-order system evolve axis and so do their basins. From the presented numerical
from periodic state to multiperiodic state and then to chaos, results, the yellow region where initial values will lead to
which also exists periodic window in the neighborhood of unbounded orbits largely remains invariant with different
𝑑 = −1.2. For purpose of further study in system parameter fractional orders, and the region of oscillation displays
analysis, when keeping 𝑏 = 1, 𝑐 = 1 and 𝑞 = 0.99, multitudinous and diverse dynamical behaviors.
Figure 8 plots the largest finite-time local LEs diagram with
the mutual variation of parameters a and d, and the right color 4. Circuit Implementation Results of the
bar denotes different levels of largest Lyapunov exponent. In
Figure 8, different colors intuitively represent influences of Fractional-Order System
parameters on dynamical behavior where the warmer colors Circuit implementation of the fractional-order chaotic sys-
mean the higher values of largest finite-time local LEs. tem plays a crucial role in actual application, which can also
verify whether the results obtained by theory analysis and
3.3. Influences of Fractional-Order q and Initial Conditions. In numerical computation are consistent and correct or not.
Figure 9, keeping the system parameters as 𝑎 = 1.2, 𝑏 = 1, Based on PSpice software, the schematic of the fractional-
𝑐 = 1, and 𝑑 = −1.3, the bifurcation of system (2) with order chaotic system with order 𝑞 = 0.992 and parameters
the change of fractional-order q illuminates the system could 𝑎 = 1.2, 𝑏 = 1, 𝑐 = 1, and 𝑑 = −1.3 is designed and
undergo the period-doubling bifurcation and end up in chaos implemented as shown in Figure 17. In Figure 17, AD633 and
Mathematical Problems in Engineering 5

4 4 4

2 2 2
z

z
0 0 0

−2 −2 −2
3 3 3
2 2 2
y 0 0 y 0 0 y 0 0
−3 −2 x −3 −2 x −3 −2 x
(a) (b) (c)

Figure 6: Coexisting attractors with initial conditions (𝑥(0), 𝑦(0), 𝑧(0)) = (1, 1, 0) (blue) and (𝑥(0), 𝑦(0), 𝑧(0)) = (−1, −1, 0) (red) when the
parameter a is kept as (a) 𝑎 = 0.9; (b) 𝑎 = 1.0; (c) 𝑎 = 1.2.

2.5 1.6

1.4
2

1.2
1.5
x

x 1

1
0.8

0.5 0.6
−1.6 −1.5 −1.4 −1.3 −1.2 −1.1 0.85 0.9 0.95 1
Parameter d Fractional order q
Figure 7: Bifurcation diagram with the variable parameter d, initial Figure 9: Bifurcation diagram with the variable fractional-order
conditions (𝑥(0), 𝑦(0), 𝑧(0)) = (1, 1, 0) (blue) and (𝑥(0), 𝑦(0), 𝑧(0)) = q, initial conditions (𝑥(0), 𝑦(0), 𝑧(0)) = (1, 1, 0) (blue) and
(−1, −1, 0) (red). (𝑥(0), 𝑦(0), 𝑧(0)) = (−1, −1, 0) (red).

−1.1
6
0.1
−1.2 4

−1.3 0.05 2
Parameter d

0
y

−1.4
0
−2
−1.5
-0.05 −4
−1.6
0.8 1 1.2 1.4 1.6 1.8
−6
Parameter a −6 −4 −2 0 2 4 6
Figure 8: Dynamic map of Largest finite-time local LEs on the time x
interval 𝑡 ∈ [0, 1500] with parameters a and b by selecting initial Figure 10: Cross-section for 𝑧 = 0 of the basins of attraction
conditions (𝑥(0), 𝑦(0), 𝑧(0)) = (1, 1, 0). for the symmetric pair of strange attractors (red and orange) with
fractional-order 𝑞 = 0.99 (the yellow region can reach unbounded
OP-07 are adopt as all analogue multipliers and operational orbits).
amplifiers.
Therein, with the proposed transfer function approx-
imations method [32] utilized and 𝜔max = 100, 𝑃𝑇 = shown by (5). With comparing (4) with (5), the values of these
0.01 assumed, the fractional integrator is derived by (4). circuit components are determined as 𝑅𝑎 = 95957.169kΩ,
In engineering practice it can be realized by three chain 𝐶𝑎 = 1.002𝜇F, 𝑅𝑏 = 1.153kΩ, 𝐶𝑏 = 13.893𝜇F and 𝑅𝑐 =
fractances composed of three resistor-capacitor pairs, as 0.205Ω, 𝐶𝑐 = 12.959𝜇F.
6 Mathematical Problems in Engineering

3 4 4

2 3 3

1 2 2

0 1 1

z
y

z
−1 0 0

−2 −1 −1

−3 −2 −2
−2 −1 0 1 2 −2 −1 0 1 2 −3 −2 −1 0 1 2 3
x x y
(a) (b) (c)

Figure 11: Coexisting chaotic attractors of the fractional-order system (2) with 𝑞 = 0.99, initial conditions (𝑥(0), 𝑦(0), 𝑧(0)) = (1, 1, 0) (blue)
and (𝑥(0), 𝑦(0), 𝑧(0)) = (−1, −1, 0) (red): (a) x-y plane; (b) x-z plane; (c) y-z plane.

2
z

−2
3
2
0
y 0
x
−3 −2
Figure 12: Coexisting limit cycles of the fractional-order system (2) with 𝑞 = 0.98, initial conditions (𝑥(0), 𝑦(0), 𝑧(0)) = (1, 1, 0) (blue) and
(𝑥(0), 𝑦(0), 𝑧(0)) = (−1, −1, 0) (red).

1 1.1471 (𝑠 + 58.2265) (𝑠 + 3.5105 × 105 )

= (4)
𝑠0.99 (𝑠 + 0.0104) (𝑠 + 62.4256) (𝑠 + 3.7636 × 105 )

1/𝐶𝑎 1/𝐶𝑏 1/𝐶𝑐 1

𝐹 (𝑠) = + + =
𝑠 + 1/𝑅𝑎 𝐶𝑎 𝑠 + 1/𝑅𝑏 𝐶𝑏 𝑠 + 1/𝑅𝑐 𝐶𝑐 𝐶0
(5)
(𝐶0 /𝐶𝑎 + 𝐶0 /𝐶𝑏 + 𝐶0 /𝐶𝑐 ) [𝑠2 + (((𝐶𝑏 + 𝐶𝑐 ) /𝑅𝑎 + (𝐶𝑎 + 𝐶𝑐 ) /𝑅𝑏 + (𝐶𝑎 + 𝐶𝑏 ) /𝑅𝑐 ) / (𝐶𝑎 𝐶𝑏 + 𝐶𝑏 𝐶𝑐 + 𝐶𝑎 𝐶𝑐 )) 𝑠 + ((𝑅𝑎 + 𝑅𝑏 + 𝑅𝑐 ) /𝑅𝑎 𝑅𝑏 𝑅𝑐 ) / (𝐶𝑎 𝐶𝑏 + 𝐶𝑏 𝐶𝑐 + 𝐶𝑎 𝐶𝑐 )]
⋅
(𝑠 + 1/𝑅𝑎 𝐶𝑎 ) (𝑠 + 1/𝑅𝑏 𝐶𝑏 ) (𝑠 + 1/𝑅𝑐 𝐶𝑐 )

With the Kirchhoff ’s circuit laws, the mathematical model calculated as: 𝑉𝐶𝐶+ = −𝑉𝐶𝐶− = 15VDC , 𝑅1 = 𝑅3 =
of system (2) is described by the circuit equations as follow: 𝑅11 = 1000kΩ, 𝑅2 = 𝑅4 = 𝑅5 = 𝑅6 = 𝑅7 = 𝑅9 =
𝑅10 = 100kΩ, 𝑅8 = 83.33kΩ, 𝑅12 = 10kΩ, 𝑅13 =
d𝑞 𝑥 𝑅7 115.38kΩ. Figure 18 demonstrates circuit implementation
𝑞
= 𝑦
d𝑡 𝑅1 𝑅6 𝐶0 results in which hidden strange attractors can been observed
distinctly. And it also indicates that the circuital results are
d𝑞 𝑦 1 1 comparatively consistent with the numerical simulations.
=− 𝑥− 𝑦𝑧
d𝑡𝑞 𝑅3 𝐶0 𝜂𝑅2 𝐶0
(6)
d𝑞 𝑧 𝑅5 𝑅7 𝑅7 5. Finite-Time Synchronization of the
= 𝑥2 + 𝑦2 + 𝑥𝑦 Fractional-Order System with Hidden
d𝑡𝑞 𝜂𝑅8 𝑅4 𝐶0 𝜂𝑅9 𝑅6 𝐶0 𝜂𝑅10 𝑅6 𝐶0
Coexisting Attractors
𝑅12
+ 𝑉
𝑅13 𝑅11 𝐶0 𝐶𝐶− There is a wide variety of literature [24, 33–37] on syn-
chronization of fractional-order chaotic systems by reason
where 𝐶0 = 1𝜇F and 1/𝜂 = 1/10 hinged on the characteristic of comprehensive practical application in many fields, such
of AD633. The parameters of electronic components are as aerospace, power system, secure communication and so
Mathematical Problems in Engineering 7

6 6

4 4

2 2

0 0
y

y
−2 −2

−4 −4

−6 −6
−6 −4 −2 0 2 4 6 −6 −4 −2 0 2 4 6
x x
Figure 13: Cross-section for 𝑧 = 0 of the basins of attraction for the Figure 15: Cross-section for 𝑧 = 0 of the basins of attraction for
symmetric pair of limit cycles (blue and cyan) with fractional-order the chaotic attractor (red) and the limit cycle (blue) with fractional-
𝑞 = 0.98 (the yellow region can reach unbounded orbits). order 𝑞 = 0.999 (the yellow region can reach unbounded orbits).

𝑞 𝑞
where 𝑥 = [𝑥1 , 𝑥2 , ⋅ ⋅ ⋅ 𝑥𝑛 ], 𝑥𝑞 = [𝑥1 , 𝑥2 , ⋅ ⋅ ⋅ 𝑥𝑞𝑛 ]. Then the state
variables 𝑥 of the given fractional-order system will converge to
6 zero within a finite-time:
4
𝑡 = [V (0)𝑞−2𝛼/(1+𝑞)
2
z

(8)
1/𝑞
0 Γ (1 + 𝑞 − 2𝛼/ (1 + 𝑞)) Γ (1 + 𝑞)
⋅ ] ,
Γ (1 + 2𝑞 − 2𝛼/ (1 + 𝑞)) 𝑘Γ (2 + 𝑞)
−2
3
2 where V = 𝑥(𝑥𝑞 )T .
0
y 0 Lemma 3. ∀𝑎, 𝑏 > 0, 0 < 𝑐 < 1:
x
−3 −2
(𝑎 + 𝑏)𝑐 ≤ 𝑎𝑐 + 𝑏𝑐 (9)
Figure 14: Coexistence of a chaotic attractor and a limit cycle of
system (2) with 𝑞 = 0.999, initial conditions (𝑥(0), 𝑦(0), 𝑧(0)) = Making allowances for the internal disturbances Δ𝑓𝑖𝑚 (𝑋, 𝑡)
(1, 1, 0) (blue) and (𝑥(0), 𝑦(0), 𝑧(0)) = (−0.5, 5, 0) (red). and Δ𝑓𝑖𝑠 (𝑋1 , 𝑡) (𝑖 = 1, 2, 3 and 𝑥, 𝑦, 𝑧 ∈ 𝑋, 𝑥1 , 𝑦1 , 𝑧1 ∈ 𝑋1 ) in
the fractional-order chaotic system (2), the master system and
the slave system can be obtained as

d𝑞 𝑥
= 𝑦 + Δ𝑓1𝑚 (𝑋, 𝑡)
on. Research about finite-time synchronization in allusion d𝑡𝑞
to fractional-order chaotic system with hidden attractors,
d𝑞 𝑦
are quite limited. In this section, based on the finite-time = −𝑥 − 𝑦𝑧 + Δ𝑓2𝑚 (𝑋, 𝑡) (10)
stable theorem [38], in consideration of the disturbances, d𝑡𝑞
the modified controller is devised for synchronization of the d𝑞 𝑧
fractional-order system with hidden chaotic attractors and = 𝑎𝑥2 + 𝑏𝑦2 + 𝑐𝑥𝑦 + 𝑑 + Δ𝑓3𝑚 (𝑋, 𝑡)
achieves the anticipated effect. d𝑡𝑞
d𝑞 𝑥1
Theorem 2 (see [38]). For the fractional-order system in = 𝑦1 + Δ𝑓1𝑠 (𝑋1 , 𝑡) − 𝑢1
d𝑡𝑞
general, if it satisfies
d𝑞 𝑦1
= −𝑥1 − 𝑦1 𝑧1 + Δ𝑓2𝑠 (𝑋1 , 𝑡) − 𝑢2 (11)
d𝑡𝑞
Γ (2) 𝐶 𝑞 T 𝛼
𝑞
𝑥 𝐶𝑎 𝐷𝑡 𝑥T = 𝐷 𝑥 (𝑥𝑞 ) ≤ −𝑘 (𝑥𝑥T ) , d𝑞 𝑧1
Γ (2 + 𝑞) 𝑎 𝑡 = 𝑎𝑥21 + 𝑏𝑦12 + 𝑐𝑥1 𝑦1 + 𝑑 + Δ𝑓3𝑠 (𝑋1 , 𝑡) − 𝑢3
d𝑡𝑞
(7)
𝑞 + 𝑞2 where 𝑎 = 1.2, 𝑏 = 1, 𝑐 = 1, 𝑑 = −1.3, and 𝑞 = 0.99; 𝑢 =
𝛼< , 𝑘 > 0, [𝑢1 , 𝑢2 , 𝑢3 ] is the designed controller.
2
8 Mathematical Problems in Engineering

3 6 6

2
4 4
1
0 2 2

z
y

z
−1
0 0
−2
−3 −2 −2
−2 −1 0 1 2 −2 −1 0 1 2 −3 0 3
x x y
(a) (b) (c)

Figure 16: Coexistence of a chaotic attractor and a limit cycle of system (2) with 𝑞 = 0.999, initial conditions (𝑥(0), 𝑦(0), 𝑧(0)) = (1, 1, 0)
(blue) and (𝑥(0), 𝑦(0), 𝑧(0)) = (−0.5, 5, 0) (red): (a) x-y plane; (b) x-z plane; (c) y-z plane.

VCC+ VCC+
VCC+ U3 7 U5 7
3 V+ 8 3 V+ 8
8

U4 + OS2 + OS2
1 6 6
V+

y X1 OUT y OUT -y
2 R2 0 R6 0
3 X2 7 2 1 2 1
z Y1 W - OS1 - OS1
4 4 4
Y2 100k V- 100k V-
6 OP-07 OP-07
V-

0 Z
VCC- VCC-
AD633/AD R7
5

C2a C2b C2c

Vos VCC- R3
100k
x
VCC- VCC+ Vos 1.002u 13.893u 12.959u
1000k
V1 V2 V3 R2a R2b R2c
+ + +
VCC+
- - -
95957.169k 1.153k 0.205

8
-15Vdc 15Vdc -5mV U7
1

V+
x X1
VCC+ VCC+ 2 R8
X2 zsum
U1 7 U2 7 -x 3 7
3 V+ 8 3 V+ 8 4 Y1 W
0 + OS2 + OS2 Y2 83.33k
6

V-
6 6 0 Z
0 OUT x 0 OUT -x
R1 R4 AD633/AD
5

2 1 2 1
-y - 4 OS1 - OS1
4 Vos VCC-
1000k V- 100k V-
OP-07 OP-07
VCC- VCC-

C1a C1b C1c R5 VCC+

8

U8
100k 1
1.002u 13.893u 12.959u
V+

y X1
2 R9
3 X2 7 zsum
R1a R1b R1c -y
4 Y1 W
6 Y2 100k
V-

95957.169k 1.153k 0.205 0 Z

VCC+
U6 7 AD633/AD
5

zsum 3 V+ 8
VCC+
+ OS2
U107 Vos VCC-
3 V+ 8 6
+ OS2 0 OUT z
R13
6 2 1
0 OUT - 4 OS1 VCC+
R11
2 1 115.38k V-
OP-07
VCC-
8

- 4 OS1 U9
1000k V-
OP-07 VCC- 1
V+

x X1
VCC- 2 R10
X2 zsum
3 7
C3a C3b C3c -y Y1 W
R12 4
Y2 100k
6
V-

1.002u 13.893u 12.959u 0 Z

10k
AD633/AD
5

R3a R3b R3c

Vos VCC-
95957.169k 1.153k 0.205

Figure 17: The electronic circuit schematic of the fractional-order system (2) in PSpice.
Mathematical Problems in Engineering 9

4.0V 5.0V

2.5V

0V

0V

−4.0V −2.0V
−2.0V 0V 2.0V −2.0V 0V 2.0V
V(x) V(x)
V(y) V(z)
(a) (b)
5.0V

2.5V

0V

−2.0V
−4.0V 0V 4.0V
V(y)
V(z)
(c)

Figure 18: Hidden chaotic attractors of the fractional-order system (2) in PSpice: (a) on the x-y plane; (b) on the x-z plane; (c) on the y-z
plane.

Assumption 4. The disturbances Δ𝑓𝑖𝑚 (𝑋, 𝑡), Δ𝑓𝑖𝑠 (𝑋1 , 𝑡) are Theorem 5. It can realize the synchronization of the master
bounded. In other words, positive constants 𝐹𝑖𝑚 and 𝐹𝑖𝑠 can system (10) and the slave system (11) within a finite-time, while
be found to satisfy the control input is provided as
󵄨󵄨󵄨Δ𝑓𝑚 (𝑋, 𝑡)󵄨󵄨󵄨 ≤ 𝐹𝑚 , 𝛽
󵄨 𝑖 󵄨 𝑖 𝑢1 = 1.2𝑥1 𝑒3 + 𝑦𝑒3 + 𝑘𝑒1 + 𝑘1 sign (𝑒1 )
󵄨󵄨 𝑠 󵄨󵄨 (12)
𝑠
󵄨󵄨Δ𝑓𝑖 (𝑋1 , 𝑡)󵄨󵄨 ≤ 𝐹𝑖 𝛽
𝑢2 = −𝑧𝑒2 + 𝑥1 𝑒3 + 𝑘𝑒2 + 𝑘2 sign (𝑒2 ) (14)
Afterwards, we define the error system as 𝑒1 = 𝑥1 − 𝑥,
𝛽
𝑒2 = 𝑦1 − 𝑦, 𝑒3 = 𝑧1 − 𝑧, which can ultimately be derived as 𝑢3 = 1.2𝑥𝑒1 + 𝑦𝑒2 + 𝑘𝑒3 + 𝑘3 sign (𝑒3 )
d𝑞 𝑒1 where 𝑘𝑖 = 𝐹𝑖𝑠 + 𝐹𝑖𝑚 , 𝑖 = 1, 2, 3.
= 𝑒2 + Δ𝑓1𝑠 (𝑋1 , 𝑡) − Δ𝑓1𝑚 (𝑋, 𝑡) − 𝑢1
d𝑡𝑞
d𝑞 𝑒2 Proof. According to (7) and (12), the corresponding function
= −𝑒1 − 𝑦1 𝑒3 − 𝑧𝑒2 + Δ𝑓2𝑠 (𝑋1 , 𝑡) − Δ𝑓2𝑚 (𝑋, 𝑡) with the error system (13) and the control input (14) can be
d𝑡𝑞 constructed as
− 𝑢2 (13)
Γ (2) d𝑞 𝑞 𝑞 𝑞 T
[𝑒1 𝑒2 𝑒3 ] [𝑒1 𝑒2 𝑒3 ]
d𝑞 𝑒3 Γ (2 + 𝑞) d𝑡𝑞
= 1.2𝑥1 𝑒1 + 1.2𝑥𝑒1 + 𝑦1 𝑒2 + 𝑦𝑒2 + 𝑥1 𝑒2 + 𝑦𝑒1
d𝑡𝑞 T
d𝑞 d𝑞 d𝑞
+ Δ𝑓3𝑠 (𝑋1 , 𝑡) − Δ𝑓3𝑚 (𝑋, 𝑡) − 𝑢3 = [𝑒1 𝑒2 𝑒3 ] [ 𝑒1 𝑒2 𝑒]
d𝑡𝑞 d𝑡𝑞 d𝑡𝑞 3
10 Mathematical Problems in Engineering

= 𝑒1 𝑒2 − 𝑒1 𝑒2 − 𝑦1 𝑒2 𝑒3 − 𝑧𝑒22 + 1.2𝑥1 𝑒1 𝑒3 + 1.2𝑥𝑒1 𝑒3 2

+ 𝑦1 𝑒2 𝑒3 + 𝑦𝑒2 𝑒3 + 𝑥1 𝑒2 𝑒3 + 𝑦𝑒1 𝑒3 1

+ (Δ𝑓1𝑠 (𝑋1 , 𝑡) − Δ𝑓1𝑚 (𝑋, 𝑡)) 𝑒1

0

e
+ (Δ𝑓2𝑠 (𝑋1 , 𝑡) − Δ𝑓2𝑚 (𝑋, 𝑡)) 𝑒2
−1
+ (Δ𝑓3𝑠 (𝑋1 , 𝑡) − Δ𝑓3𝑚 (𝑋, 𝑡)) 𝑒3 − 𝑢1 𝑒1 − 𝑢2 𝑒2
− 𝑢3 𝑒3 −2
0 0.5 1 1.5 2 2.5 3
𝛽+1 𝛽+1 𝛽+1 t (s)
= −𝑘𝑒1 − 𝑘𝑒2 − 𝑘𝑒3
e1
3
+ ∑ ((Δ𝑓𝑖𝑠 (𝑋1 , 𝑡) − Δ𝑓𝑖𝑚 (𝑋, 𝑡)) 𝑒𝑖 − 𝑘𝑖 𝑒𝑖 sign (𝑒𝑖 )) e2
𝑖=1 e3
𝛽+1 𝛽+1 𝛽+1
≤ −𝑘𝑒1 − 𝑘𝑒2 − 𝑘𝑒3 Figure 19: Synchronization errors between the master and slave
systems.
3
+ ∑ ((𝐹𝑖𝑠 + 𝐹𝑖𝑚 ) 𝑒𝑖 − 𝑘𝑖 𝑒𝑖 sign (𝑒𝑖 ))
𝑖=1

3
scheme in synchronization of fractional-order chaotic system
𝛽+1 𝛽+1 𝛽+1 with hidden coexisting attractors.
= −𝑘𝑒1 − 𝑘𝑒2 − 𝑘𝑒3 + ∑ (𝑘𝑖 (𝑒𝑖 − 𝑒𝑖 sign (𝑒𝑖 )))
𝑖=1

𝛽+1 𝛽+1 𝛽+1

Δ𝑓1𝑚 (𝑋, 𝑡) = 0.15𝑥 cos (2𝑡) ,
≤ −𝑘𝑒1 − 𝑘𝑒2 − 𝑘𝑒3
(15) Δ𝑓1𝑠 (𝑋1 , 𝑡) = −0.2𝑥1 sin (2𝑡)

Δ𝑓2𝑚 (𝑋, 𝑡) = −0.2𝑦 sin (3𝑡) ,

where 𝑒𝑖 − 𝑒𝑖 sign(𝑒𝑖 ) = 𝑒𝑖 − |𝑒𝑖 | ≤ 0.
(17)
By reference to Lemma 3, (15) can be derived as Δ𝑓2𝑠 (𝑋1 , 𝑡) = 0.1𝑦1 sin (2𝑡)
𝛽+1 𝛽+1 𝛽+1
− 𝑘𝑒1 − 𝑘𝑒2 − 𝑘𝑒3 Δ𝑓3𝑚 (𝑋, 𝑡) = 0.1𝑧 cos (𝑡) ,

= −𝑘 (𝑒21 )
(𝛽+1)/2
− 𝑘 (𝑒22 )
(𝛽+1)/2 (𝛽+1)/2
− 𝑘 (𝑒23 ) (16) Δ𝑓3𝑠 (𝑋1 , 𝑡) = 0.15𝑧1 cos (𝑡)

(𝛽+1)/2 (𝛽+1)/2
≤ −𝑘 (𝑒21 + 𝑒22 + 𝑒23 ) = −𝑘 (𝑒𝑒T ) 6. Conclusions
Therefore, from Theorem 2, the error system (13) states In this paper, a novel three-dimensional symmetric fractional-
will converge to zero within a finite-time. order system without equilibrium, which can generate var-
ious hidden coexisting attractors, has been introduced. We
The numerical simulations are carried out to verify have analyzed dynamical characteristics of the fractional-
the effectiveness of the proposed scheme. The disturbances order system in detail by numerical simulations and found
Δ𝑓𝑖𝑚 (𝑋, 𝑡), Δ𝑓𝑖𝑠 (𝑋1 , 𝑡) are chosen as (17). The parameters for the system presents abundant complex dynamic character-
controllers are set as 𝑘 = 1.5, 𝛽 = 0.5 and 𝑘1 = 1.0, istics. Especially, through bifurcation diagram, the basins of
𝑘2 = 1.4, 𝑘3 = 4.4. Initial states of the master system attraction, and phase diagram, the influence of the order on
and the slave system are selected as (𝑥(0), 𝑦(0), 𝑧(0)) = dynamic behavior of the fractional-order system has been
(−0.5, −0.5, 2) and (𝑥1 (0), 𝑦1 (0), 𝑧1 (0)) = (1, 1, 0). As shown explored in depth. With the approximations of fractional-
in Figure 19, the error system (13) can stabilize to zero order integrator 𝑞 = 0.992 derived, circuit implementation of
within 1s. Meanwhile, time response of the master system the fractional-order system with hidden coexisting attractors
(10) and the slave system (11) under control input (14) is has been achieved in PSpice and it has a good agreement
presented in Figure 20 and the system states of the slave with the numerical simulations. Furthermore, the modified
system will track the trajectories of the master system within controller has been devised and proved, which can realize
1s. In comparison with the original controllers which do not the finite-time synchronization of the fractional-order system
take into account disturbance factors in [38], the improved without equilibrium under the disturbances. Finally, simu-
controllers in this paper can synchronize the master system lation results also illustrate the robustness and speediness
and the slave system under disturbances. The simulation of the proposed controller. In order to simplify control
results in Figure 20 also indicate that the proposed method inputs, fractional-order finite-time backstepping method and
is fast and can achieve chaos synchronization within finite- dynamic surface method will be considered in the future.
time. All the results verify the effectiveness of the proposed Furthermore, secure communication and image encryption
Mathematical Problems in Engineering 11

1 1

0 0
x-x1

y-y1
−1 −1

−2
−2
0 2 4 6 8 10 0 2 4 6 8 10
t (s) t (s)

x y
x1 y1
(a) (b)
4

2
z-z1

−2
0 2 4 6 8 10
t (s)

z
z1
(c)

Figure 20: Synchronization results of the master and slave systems: (a) x-x1 ; (b) y-y1 ; (c) z-z1 .

based on the novel fractional-order chaotic system with [6] G. A. Leonov, N. V. Kuznetsov, and V. I. Vagaitsev, “Localization
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Nature and Society
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