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Article history: This paper deals with the solutions of fuzzy fractional differential equations (FFDEs) under
Received 20 January 2011 RiemannLiouville H-differentiability by fuzzy Laplace transforms. In order to solve FFDEs,
Received in revised form 7 July 2011 it is necessary to know the fuzzy Laplace transform of the RiemannLiouville H-derivative
Accepted 11 July 2011
of f, RL Dba f x. The virtue of L RL Dba f x is that can be written in terms of L[f(x)]. More-
Available online 23 July 2011
over, some illustrative examples are solved to show the efciency and utility of Laplace
transforms method.
Keywords:
2011 Elsevier B.V. All rights reserved.
Fuzzy fractional differential equations
RiemannLiouville H-differentiability
Fuzzy Laplace transforms
1. Introduction
Fractional calculus and fractional differential equations have undergone expanded study in recent years as a considerable
interest both in mathematics and in applications. They were applied in modeling of many physical and chemical processes
and in engineering [8,10,11,14,15].
One of the recently inuential works on the subject of fractional calculus is the monograph of Podlubny [27] and the other
is the monograph of Kilbas et al. [18]. Consequently, several research papers were done to investigate the theory and solu-
tions of fractional differential equation. See [1,1921] and references therein.
Recently, Agarwal et al. [7] proposed the concept of solutions for fractional differential equations with uncertainty. They
considered RiemannLiouville differentiability to solve FFDEs.
In this paper, we propose RiemannLiouville differentiability by using Hukuhara difference so-called RiemannLiouville H-
differentiability. To this end, a direct procedure is adopted to derive such concept which is constructed based on the combi-
nation of strongly generalized differentiability [13] and RiemannLiouville derivative [18,27].
Consequently, we intend an analytical (operator) method to solve FFDEs. Since, considering the solutions of FFDEs is a
new subject, we should rst implement the analytical method to solve it, then numerical methods can be applied. To this
end, we adopted the fuzzy Laplace transforms method to solve FFDEs by the following reasons:
One of the interesting transforms in the theory of fuzzy differential equations is Laplace transforms. The fuzzy
Laplace transform method solves FFDEs and corresponding fuzzy initial and boundary value problems. In this way,
the fuzzy Laplace transforms reduce the problem of solving a FFDE to an algebraic problem. This switching from oper-
ations of calculus to algebraic operations on transforms is called operational calculus, a very important area of applied
mathematics, and for the engineer, the fuzzy Laplace transform method is practically the most important operational
method. The fuzzy Laplace transform also has the advantage that it solves problems directly without determining a
general solution in the rst and obtaining non homogeneous differential equations in the second. One can see some
1007-5704/$ - see front matter 2011 Elsevier B.V. All rights reserved.
doi:10.1016/j.cnsns.2011.07.005
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S. Salahshour et al. / Commun Nonlinear Sci Numer Simulat 17 (2012) 13721381 1373
useful papers about fuzzy Laplace transforms in [5,25,26]. Also, there exist some recently published papers with some
modications about application of Hukuhara difference and its generalization to solve fuzzy differential equations
[24,17,23,24,2931,35].
In this contribution, we try to solve FFDEs under RiemannLiouville H-differentiability using fuzzy Laplace transforms.
So, in the beginning, we dene RiemannLiouville H-differentiability which is a direct extension of RiemannLiouville
derivatives with respect to Hukuhara difference, and then, we will investigate the Laplace transform of fractional
derivatives which is important tool to solve FFDEs with Laplace transforms. To the best of our knowledge this is the
rst time in the literature that FFDEs are investigated under RiemannLiouville H-differentiability using fuzzy Laplace
transforms.
This paper is organized as follows:
In Section 2, we recall some basic concepts. In Section 3, RiemannLiouville H-differentiability is introduced and some of
its properties are considered. Consequently, the fuzzy Laplace transforms are considered for fuzzy-valued functions and an
essential theorem for Laplace transform of RiemannLiouville H-derivative is given in Section 4. The solutions of FFDEs are
determined under RiemannLiouville H-differentiability by using fuzzy Laplace transforms in Section 5. In Section 6, some
examples are solved to illustrate the ability of proposed method and compared with non-fractional fuzzy solutions. Finally,
conclusion and future research are drawn in Section 7.
2. Basic concepts
) of functions u(r), u
Denition 2.1. A fuzzy number u in parametric form is a pair (u, u (r), 0 6 r 6 1, which satisfy the
following requirements:
1. u(r) is a bounded non-decreasing left continuous function in (0, 1], and right continuous at 0,
(r) is a bounded non-increasing left continuous function in (0, 1], and right continuous at 0,
2. u
3. u(r) 6 u (r), 0 6 r 6 1.
r; v v r; v
where u ur; u r R is utilized in [12]. Then, it is easy to see that d is a metric in E and has the follow-
ing properties (see [28]):
Please note that a function f : A ! E; A # R so called fuzzy-valued function. However, an arbitrary function f, where
f : A ! R; A # R so called real-valued function (or crisp function). The r-cut representation of fuzzy-valued function f can
be expressed by f x; r f x; r; f x; r; x 2 A # R and 0 6 r 6 1.
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Theorem 2.1 [32]. Let f is fuzzy-valued function on [a, 1) represented by f x; r; f x; r. For any xed r 2 [0, 1], assume f (x; r)
and f x; r are Riemann-integrable on [a, b] for every b P a, and assume there are two positive functions M(r) and Mr such that
Rb Rb
a jf x; rjdx 6 Mr and a jf x; rjdx 6 Mr for every b P a. Then f(x) is improper fuzzy Riemann-integrable on [a, 1) and the
improper fuzzy Riemann-integral is a fuzzy number. Further more, we have:
Z 1 Z 1 Z 1
f x; rdx f x; rdx; f x; rdx :
a a a
Denition 2.2. Let x; y 2 E. If there exists z 2 E such that x = y + z, then z is called the H-difference of x and y, and it is denoted
by x y.
In this paper, the sign always stands for H-difference, and also note that x y x + (1)y.
3. RiemannLiouville H-differentiability
In this section, we introduce our denition of fuzzy RiemannLiouville integrals and derivatives under Hukuhara differ-
ence. We try to produce such denitions and statements similar to the non-fractional one in fuzzy context [12].
We denote C F a; b as the space of all continuous fuzzy-valued functions on [a, b]. Also, we denote the space of all Lebesque
integrable fuzzy-valued functions on the bounded interval a; b R by LF a; b.
Now, we dene the fuzzy RiemannLiouville integral of fuzzy-valued function as follows:
Denition 3.1. Let f 2 C F a; b \ LF a; b. The fuzzy RiemannLiouville integral of fuzzy-valued function f is dened as
following:
Z x
1 f tdt
Iba f x ; x > a; 0 < b 6 1: 2
Cb a x t1b
Let us consider the r-cut representation of fuzzy-valued function f as f x; r f x; r; f x; r, for 0 6 r 6 1, then we can
indicate the fuzzy RiemannLiouville integral of fuzzy-valued function f based on the lower and upper functions as
following:
Theorem 3.1 ([6,9]). Let f 2 C F a; b \ LF a; b is a fuzzy-valued function. The fuzzy RiemannLiouville integral of a fuzzy-valued
function f can be expressed as follows:
h i
Iba f x; r Iba f x; r; Ibaf x; r ; 0 6 r 6 1; 3
where
Z x
1 f t; rdt
Iba f x; r ; 4
Cb a x t1b
Z x f t; rdt
1
Iba f x; r : 5
Cb a x t1b
Now, we dene fuzzy RiemannLiouville fractional derivatives about order 0 < b < 1 for fuzzy-valued function f.
R x f tdt
Denition 3.2. Let f 2 C F a; b \ LF a; b; x0 in (a, b) and Ux C1b
1
a xtb . We say that f is RiemannLiouville H-
differentiable about order 0 < b < 1 at x0, if there exists an element RL Dba f x0 2 E, such that for h > 0 sufciently small
Ux0 h Ux0 Ux0 Ux0 h
i RL
Dba f x0 lim lim ;
h!0 h h!0 h
or
Ux0 Ux0 h Ux0 h Ux0
ii RL
Dba f x0 lim lim ;
h!0 h h!0 h
or
Ux0 h Ux0 Ux0 h Ux0
iii RL
Dba f x0 lim lim ;
h!0 h h!0 h
or
Ux0 Ux0 h Ux0 Ux0 h
iv RL
Dba f x0 lim lim ;
h!0 h h!0 h
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For sake of simplicity, we say that the fuzzy-valued function f is RL[(i) b]-differentiable if it is differentiable as in the Def-
inition 3.2 case (i), and f is RL[(ii) b]-differentiable if it is differentiable as in the Denition 3.2 case (ii) and so on for the other
cases.
Theorem 3.2 [6]. Let f 2 C F a; b \ LF a; b; x0 in (a, b) and 0 < b < 1. Then:
RL
(i) Let us consider f is [(i) b]-differentiable fuzzy-valued function, then:
h i
Da f x0 ; r RL Dba f x0 ; r; RL Dba f x0 ; r ;
RL b
0 6 r 6 1: 6
RL
(ii) Let us consider f is [(ii) b]-differentiable fuzzy-valued function, then:
h i
Da f x0 ; r RL Dba f x0 ; r; RL Dba f x0 ; r ;
RL b
0 6 r 6 1; 7
where
" Z #
1 d x f t; rdt
RL
Dba f x0 ; r ; 8
C1 b dx a x tb xx0
and
" Z #
1 d x f t; rdt
RL
Dba f x0 ; r : 9
C1 b dx a x tb xx0
Theorem 3.3. Let f 2 C F a; b \ LF a; b be a RiemannLiouville H-differentiable of order 0 < b < 1on each point x 2 (a, b) in the
sense of Denition 3.2 case (iii) or case (iv). Then RL Dba f x 2 R for all x 2 (a, b).
Proof. By substituting U(x) in Theorem 7 [12] instead of f(x), the proof is obvious. h
Remark 3.1. Please notice that the subjects of sum, multiplication and switching points of fuzzy-valued functions in order to
determine types of RiemannLiouville H-differentiability are out of the scope of this paper and will be studied carefully in
the future.
4. The fuzzy Laplace transforms
In this section, we are going to dene fuzzy Laplace transform for fuzzy-valued function. Moreover, we will consider the
properties of the fuzzy Laplace transforms, then a derivative theorem is given in order to connect between Laplace transform
of fractional derivative and corresponding fuzzy-valued function.
Firstly, Allahviranloo and Barkhordari [5] proposed the Laplace transform for fuzzy-valued functions and investigated
some well-known properties of it.
Denition 4.1 [5]. Let f is continuous fuzzy-valued function. Suppose that f(x) epx is improper fuzzy Riemann-integrable
R1
on [0, 1), then 0 f x epx dx is called fuzzy Laplace transforms and denoted by:
Z 1
Lf x f x epx dx p > 0 and integer: 10
0
then, we get:
h i
Lf x; r f x; r; f x; r :
Theorem 4.1 [5]. Let f and g are continuous fuzzy-valued functions. Suppose that c1 and c2 are constants. Then:
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Lemma 4.1 [5]. Let f is continuous fuzzy-valued function on [0, 1) and k 2 R. Then
Lk f x k Lf x:
Lemma 4.2 (see [5]). Let f is a continuous fuzzy-valued function and g(x) P 0 is a real-valued function. Suppose that
(f(x) g(x)) epx is improper fuzzy Riemann-integrable on [0, 1), then
Z 1 Z 1 Z 1
f x; r gx epx dx gxf x; repx dx; gxf x; repx dx :
0 0 0
Theorem 4.2 (First translation theorem [5]). Let f be a continuous fuzzy-valued function and L[f(x)] = F(p). Then:
Leax f x Fp a;
where eax is real valued function.
An important function occurring in electrical system is the (delayed) unit step function
1; x P a
ua x 11
0; x < a:
Theorem 4.3 (Second translation theorem). Let us consider F(p) = L[f(x)]. Then:
Lua x f x a eap Fp; a P 0: 12
RL
Since f is [(i) b], we get:
h i
RL
Dba f x; r RL Dba f x; r; RL Dba f x; r 15
h i
RL Dba f x; r; RL Dba f x; r : 16
Hence, we have:
h i h i
RL Dba f x; r RL Dba f x; r pb f x; r RL Db1
a
f 0; r;
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and
h i h i h i
RL Dba f x; r RL Dba f x; r pb f x; r RL Db1
a f 0; r:
by linearity of L,
h i
pb Lf x; r RL
Db1
a f 0; r L Da f x; r; RL Dba f x; r :
RL b
Thus, we have:
b h b RL b1 h i i
RL Db1
a f 0; r p L f x; r p f x; r Da f 0; r; pb
f x; r RL b1
Da f 0; r :
So, we have:
b h hRL b i h ii
RL Db1
a f 0; r p Lf x; r Da f x; r ; RL Dba f x; r :
Then, we deduce:
b h i
RL Db1
a f 0; r p Lf x; r L
RL b
Da f x; r ;
Consider the following fuzzy fractional differential equation of order 0 < b < 1 with the initial condition
8
>
< RL Dba y x f x; yx;
19
>
: RL Db1 RL b1
a y x0 y0 2 E;
In this subsection, we provide the fuzzy Laplace transform and its inverse to derive solutions of FFDE (19). By taking La-
place transform on the both sides of Eq. (19), we get the following:
h i
L RL
Dba y x Lf x; yx: 20
Then, based on the types of RiemannLiouville H-differentiability we have the following cases:
Case I. Let us consider y(x) is a RL[(i) b]-differentiable function, then Eq. (20) is extended based on the its lower and
upper functions as following:
8 h i
>
< f x; yx; r pb yx; r RL Db1a y 0; r; 0 6 r 6 1;
21
>
: f x; yx; r pb y
x; r RL Db1
a y 0; r; 0 6 r 6 1;
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where
x; rg
f x; yx; r minff x; uju 2 yx; r; y 22
and
f x; yx; r maxff x; uju 2 yx; r; y
x; rg: 23
yx; r 1 H1 p; r; 24
1
x; r K 1 p; r:
y 25
RL
Case II. Let us consider y(x) is [(ii)] b]-differentiable, then Eq. (20) can be written as follows:
8
>
< f x; yx; r pyx; r RL Db1
a y 0; r;
26
>
: f x; yx; r py
x; r RL Db1
a y 0; r;
where
x; rg
f x; yx; r minff x; uju 2 yx; r; y 27
and
f x; yx; r maxff x; uju 2 yx; r; y
x; rg 28
yx; r 1 H2 p; r; 29
x; r 1 K 2 p; r:
y 30
6. Examples
In this section, we consider two examples in details to solve FFDEs under RiemannLiouville H-differentiability.
Example 6.1 (Fuzzy fractional nuclear decay equation). Let us consider the following FFDE:
8
>
< RL Db0 y x k yx; 0 < b; x < 1;
>
: RL Db1 RL b1
y 0 y0 2 E;
0
where, y(x) is the number of radionuclides present in a given radioactive, k is a decay constant. We solve this example
according two following cases for k 2 R.
Case I. Suppose that k 2 R 0; 1, then applying Laplace transform on the both sides of above equation, we have:
h i
L RL
Db0 y x Lk yx: 31
RL
using [(i) b]-differentiability, we get:
8 h i
>
< kyx; r pb yx; r RL Db1 y 0; r;
0
32
>
: ky x; r RL Db1
x; r pb y 0; r:
y
0
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Consequently, applying inverse of Laplace on the both sides of Eq. (33) we have:
8 h i
>
< yx; r RL Db1 1 1
a y 0; r pb k
; 0 6 r 6 1;
h i 34
>
:y b1
x; r RL Da y 0; r1 pb1k ; 0 6 r 6 1:
Applying inverse of Laplace transform on the both sides of Eq. (40), we get the following:
8 h i h i RL b1
>
> 1 1 1 1 1 Da y0;r
>
< yx; r p2 pb 1
b
pp 1
b
p 1
;
h i h i 41
> RL Db1 y
> x; r 1 p2 p1b 1 1 ppb11 1 apb 1
0;r
>
:y :
Solving Eq. (41), leads to determine the lower and upper functions of solution as following:
8 R h i
< yx; r RL yb1 rxb1 Eb;b kxb x x tb1 Eb;b kx tb t 1dt; 0 6 r 6 1;
0 0
R 42
: 0b1 rxb1 Eb;b kxb 0x x tb1 Eb;b kx tb t 1dt;
yx; r RL y 0 6 r 6 1:
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For special case, let us consider b = 0.5 and RL
D0:5
a y 0; r 1 r; 3 r, then we get the solution as following:
4 2x0:5
yx; r p x1:5 hypergeom1; 2:5; x 0:5x2 hypergeom1; 3; x p hypergeom1; 1:5; x
3 p p
1 x
p
xhypergeom1; 2; x 1 r p e erfc x ; 0 6 r 6 1;
pt
and
4 2x0:5
x; r p x1:5 hypergeom1; 2:5; x 0:5x2 hypergeom1; 3; x p hypergeom1; 1:5; x
y
3 p p
1 p
xhypergeom1; 2; x 3 r p ex erfc x ; 0 6 r 6 1;
pt
where hypergeom is dened as following:
hypergeom(n, d, z) is the generalized hypergeometric function F(n, d, z), also known as the Barnes extended hypergeometric
function. For scalar a, b, and c, hypergeom([a, b],c, z) is the Gauss hypergeometric function 2F1(a, b; c; z). The Gauss hypergeo-
metric function 2F1(a, b; c; z) is dened in the unit disc as the sum of the hypergeometric series
X1
ak bk zk
2 F 1 a; b; c; z ; 43
k0
ck k!
a0 1;
an aa 1 a n 1; n 2 N:
In this paper, the fuzzy Laplace transforms have been studied in order to solve fuzzy fractional differential equations of
order 0 < b < 1 under RiemannLiouville H-differentiability. To this end, RiemannLiouville H-differentiability was intro-
duced based on the Hukuhara difference and then, Laplace transform of fractional derivative was discussed as Derivative
Theorem (Theorem 4.4). Consequently, we solved some well-known examples in fractional manner to investigate the solu-
tions of FFDEs under RiemannLiouville H-differentiability.
For future research, we will solve a class of linear differential dynamical systems with fuzzy initial condition [33,34] in
fractional case under RiemannLiouville H-differentiability by fuzzy Laplace transforms technique. Also, we will investigate
solutions of general type of FFDEs, i.e., FFDE about fractional order b > 1.
Acknowledgment
The authors thank the anonymous referees for their comments which improved the paper.
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