Journal of King Saud University – Science xxx (2018) xxx–xxx

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Original article

Approximations of fractional integrals and Caputo derivatives with

application in solving Abel’s integral equations
Kamlesh Kumar, Rajesh K. Pandey ⇑, Shiva Sharma
Department of Mathematical Sciences, Indian Institute of Technology (BHU) Varanasi, UP, India

a r t i c l e i n f o a b s t r a c t

Article history: This paper presents two approximate methods such as Quadratic and Cubic approximations for the
Received 16 December 2017 Riemann-Liouville fractional integral and Caputo fractional derivatives. The approximations error esti-
Accepted 31 December 2017 mates are also obtained. Numerical simulations for these approximation schemes are performed with
Available online xxxx
the test examples from literature and obtained numerical results are also compared. To establish the
application of the presented schemes, the problem of Abel’s inversion is considered. Numerical inversion
Keywords: of Abel’s equation is obtained using Quadratic and Cubic approximations of the Caputo derivative. Test
Riemann-Liouville fractional integral
examples from literature are considered to validate the effectiveness of the presented schemes. It is
Caputo derivative 3
Quadratic scheme
observed that the Quadratic and Cubic approximations schemes produce the convergence of orders h
4
Cubic scheme and h respectively.
Abel’s integral equations Ó 2018 Production and hosting by Elsevier B.V. on behalf of King Saud University. This is an open access
article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

1. Introduction algorithms for solving applied problems defined using fractional

Fractional derivatives have gained much attention in recent
years and this could be due to its non-local nature compare to
the traditional integer order derivatives. Fractional derivatives
have played a significant role in analysing the behaviour of the
physical phenomena through different domains of the science
and engineering. Some of the pioneer contributions in these areas
may be considered as biology (Robinson, 1981), viscoelasticity
(Bagley and Torvik, 1983a,b), bioengineering (Magin, 2004), and
many more can be found in Podlubny (1999) and Kilbas et al.
(2006). Some of recent applications of the fractional derivatives
in the emerging areas could be also noted as mathematical biology
(Tripathi, 2011a; Tripathi and Anwar Bég, 2015a; Tripathi et al.,
2015b; Bég et al., 2015) and heat and fluid flow (Arqub, 2017a).
Numerical integration is a basic tool for obtaining the
approximate value of the definite integrals where the analytical
integrations are difficult to evaluate. Numerical integrations for
the fractional integrals also become important in developing the
⇑ Corresponding author.
E-mail addresses: kkp.iitbhu@gmail.com (K. Kumar), rkpandey.mat@iitbhu.ac.in
(R.K. Pandey), shivasharma.math@gmail.com (S. Sharma).
Peer review under responsibility of King Saud University.
Production and hosting by Elsevier
derivatives. In recent years, numerical integrations of the fractional
integrals and the fractional derivatives have attracted many
researchers. The Adams–Bashforth–Moulton method for the frac-
tional differential equations is discussed in Diethelm et al. (2002,
2004). Kumar and Agrawal (2006) presented quadratic approxima-
tion scheme for fractional differential equations. In Odibat (2006),
Odibat presented a modified algorithm for approximation of frac-
tional integral and Caputo derivatives and also obtained its error
estimate. In Agrawal (2008) and Agrawal et al. (2012), Agrawal dis-
cussed the finite element approximation and fractional power ser-
ies solution for the fractional variational problems. Pandey and
Agrawal (2015) discussed a comparative study of different numer-
ical methods such as linear, quadratic and quadratic-linear
schemes for solving fractional variational problems defined in
terms of the generalized derivatives. Recently, in Kumar et al.
(2017), authors present three schemes for solving fractional
integro-differential equations. Reproducing kernel algorithm are
discussed for some time fractional partial differential equations
in Arqub (2017b) and Arqub et al. (2015). Some more approxima-
tion schemes for solving fractional PDEs are elaborated in detail in
Li and Zeng (2015).
In Odibat (2006), Odibat presented a scheme for approximating
the Riemann-Liouville fractional integral and then obtained
approximations for the Caputo derivatives. In this paper, we focus
on the higher order approximations such as quadratic and cubic
schemes to approximate the Riemann-Liouville fractional integral
and Caputo derivatives. The numerical approximations are based

https://doi.org/10.1016/j.jksus.2017.12.017
1018-3647/Ó 2018 Production and hosting by Elsevier B.V. on behalf of King Saud University.
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

Please cite this article in press as: Kumar, K., et al.. Journal of King Saud University – Science (2018), https://doi.org/10.1016/j.jksus.2017.12.017
2 K. Kumar et al. / Journal of King Saud University – Science xxx (2018) xxx–xxx

on the idea of dividing the whole interval into a set of small subin- Here, we follow the simpler notations to the fractional integral
tervals and between these two successive subintervals the and fractional derivatives and denote Riemann-Lowville fractional
unknown functions are approximated in terms of the quadratic integral (Eq. (1)) and Caputo fractional derivative (Eq. (4)) as I-
and cubic polynomials. Thus, the numerical scheme presented for operator and D-operator respectively in the upcoming derivations
the approximation of the Riemann-Liouville fractional integral of the numerical schemes. From Eq. (1) and (4), the approximation
and Caputo derivatives are named as quadratic and cubic schemes. of the I-operator and D-operator can be expressed as,
The error estimates for these approximations are also presented Z t
1
where we observe that the quadratic and cubic approximations ðIa f ÞðtÞ ¼ ðt  sÞa1 f ðsÞds  Iðf ; h; aÞ; ð5Þ
achieve high convergence order. To validate these schemes, test
CðaÞ 0

examples are considered from the literature (Odibat, 2006). We Z t

1 ðmÞ
also show that the obtained results using the proposed schemes ðDa f ÞðtÞ ¼ ðt  sÞma1 f ðsÞds  Dðf ; h; aÞ ð6Þ
preserve the results obtained by Odibat (2006). Further, the pre- Cðm  aÞ 0

sented schemes are applied to solve the Abel’s integral equations.

The numerical approach for solving Abel’s integral equations are ðIa f ÞðtÞ ¼ Iðf ; h; aÞ þ EI ðf ; h; aÞ; ð7Þ
recently studied by Jahanshahi et al. (2014), using the approxima-
tion scheme presented in Odibat (2006). Avazzadeh et al. (2011) ðDa f ÞðtÞ ¼ Dðf ; h; aÞ þ ED ðf ; h; aÞ: ð8Þ
used fractional calculus approach together with Chebyshev poly- where, Iðf ; h; aÞ and Dðf ; h; aÞ denote the approximation of the I-
nomials to solve Abel’s integral equations. Saadatmandi and operator and D-operator respectively, and EI ðf ; h; aÞ, ED ðf ; h; aÞ rep-
Dehghan (2008) applied collocation method to solve Abel’s integral resent the error terms of their approximations. Now we present
equations of first and second kind using shifted Legendre’s polyno- the Quadratic and Cubic approximation schemes of the I-operator
mials. Li and Zhao (2013) studied the Abel’s type integral equation and D-operator respectively as follows:
using the Mikusinski’s operator of fractional order. Badr (2012)
presented the solution of Abel’s integral using Jacobi polynomials. 3.1. Quadratic scheme (S1)
Further, Saleh et al. (2014) studied solution of generalized Abel’s
integral equation using Chebyshev Polynomials. The numerical In this subsection, the domain interval ½0; t is distributed into
results presented in Jahanshahi et al. (201), are considered here even number of subintervals, N ¼ 2n for n P 1, equal parts with
to validate and compare the results obtained by the presented uniform step size (or time interval) h, where h ¼ 2n t
such that the
schemes. Numerical simulations validate the presented schemes
node points are t i ¼ ih; i ¼ 0; 1; 2 . . . 2n.
and show the advantage over existing method (Jahanshahi et al.,
Z
2014). t
ðt  sÞa1
Ia f ðtÞ ¼ f ðsÞds  IQ ðf ; h; aÞ; ð9Þ
0 CðaÞ
2. Definitions
DaP f ðtÞ  DQðf ; h; aÞ; ð10Þ
The Riemann–Liouville fractional integral of order a > 0 is where, IQ ðf ; h; aÞ, DQ ðf ; h; aÞ represent the quadratic approximation
defined as, of the I and D-operators respectively and EIQ ðf ; h; aÞ; EDQ ðf ; h; aÞ rep-
Z t resent the error terms of the quadratic approximation such that,
1
ðIa f ÞðtÞ ¼ ðt  sÞa1 f ðsÞds; ð1Þ
CðaÞ 0 EIQ ðf ; h; aÞ ¼ Ia f ðtÞ  IQ ðf ; h; aÞ: ð11Þ

ðI0 f ÞðtÞ ¼ f ðtÞ ð2Þ EDQ ðf ; h; aÞ ¼ ðDa f ÞðtÞ  DQ ðf ; h; aÞ: ð12Þ

And the fractional derivative known as Riemann-Liouville frac- The function f ðsÞ is approximated over the interval
tional derivative of order a > 0 is defined as, ½t2i ; t2iþ2 using the following formula (Pandey and Agrawal,
Z 2015):
n t
1 d  
ðIa f ÞðtÞ ¼ ð Þ ðt  sÞna1 f ðsÞds; n1<a ðs  t 2iþ1 Þ ðs  t2iþ1 Þ
Cðn  aÞ dt 0 f i2 ¼ 1 f 2i
2h h
6 n; ð3Þ "  2 #  
s  t2iþ1 ðs  t 2iþ1 Þ ðs  t2iþ1 Þ
where n is an integer. Another definition of fractional derivative þ 1 f 2iþ1 þ 1þ f 2iþ2 :
h 2h h
introduced by Caputo, is defined as,
ð13Þ
Z t
a 1 ma1 ðmÞ
ðD f ÞðtÞ ¼ ðt  sÞ f ðsÞds; for; m  1 < a  m
Cðm  aÞ 0
In this case, results are presented as following lemmas.
ð4Þ
Lemma 1. Suppose that f 2 C 3 ½0; d, and the interval ½0; d is divided
where, m is an integer. For more details, we refer the readers to into even number of sub intervals ½t2i ; t 2iþ2  such that t i ¼ ih with
Podlubny (1999) and Kilbas et al. (2006). h ¼ 2n
d
; i ¼ 0; 12; . . . 2n. Let f i2 is the quadratic polynomial approxi-
mation for f to the subintervals ½t 2i ; t2iþ2  then the quadratic
3. Numerical schemes approximation IQ ðf ; h; aÞ of the I-operator is given by,

Here, two numerical schemes such as Quadratic and Cubic

(i)
schemes are discussed. First, we divide the domain into several
sub domains and then approximate the unknown function into X
n1

each sub domain. Further, the approximations are obtained using IQ ðf ; h; aÞ ¼ ðAin f ðt2i Þ þ Bin f ðt 2iþ1 Þ þ C in f ðt 2iþ2 ÞÞ; ð14Þ
i¼0
Quadratic and Cubic polynomial approximations of the unknown
function into each sub domains. where

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 K. Kumar et al. / Journal of King Saud University – Science xxx (2018) xxx–xxx 3

2a h
an
ðaþ1Þ Lemma 2. Suppose that f 2 C mþ3 ½0; d, and the interval ½0; d is
Ain ¼ ðn  i  1Þ ð2  a þ 4i  4nÞ
Cða þ 3Þ divided into even number of sub intervals ½t 2i ; t2iþ2  such that t i ¼ ih

a 2
þðn  iÞ 2 þ a2 þ 4i þ ið6  8nÞ with h ¼ 2n
d
; i ¼ 0; 12; . . . 2n. Let ½t 2i ; t2iþ2  is the quadratic polynomial
ðmÞ
 approximation for f to the subintervals ½t 2i ; t2iþ2  then the quadratic
þ3að1 þ i  nÞ  6n þ 4n2 ; ð15Þ
approximation DQ ðf ; h; aÞ of the D-operator is given by,
2ðaþ2Þ h n
a
ðaþ1Þ
Bin ¼ ðn  i  1Þ ða  2i þ 2nÞ (i)
Cða þ 3Þ
o X
n1
ðmÞ ðmÞ ðmÞ
ðaþ1Þ
þðn  iÞ ð2 þ a þ 2i  2nÞ ; ð16Þ DQ ðf ; h; aÞ ¼ ðAin f ðt 2i Þ þ Bin f ðt 2iþ1 Þ þ Cin f ðt2iþ2 ÞÞ
i¼0

2a h n ð23Þ
a
ðaþ1Þ
C jk ¼  ðn  i Þ ð2 þ a þ 4i  4nÞ
Cða þ 3Þ where,
 o h
ðmaÞ
a 2
þðn  i  1Þ a2 þ 2i  3ai þ 4i  2n þ 3an  8in þ 4n2 ; 2ðmaÞ h ðmaþ1Þ
Ain ¼ ðn  i  1Þ ð2  m þ a þ 4i  4nÞ
Cðm  a þ 3Þ
ð17Þ n
ðmaÞ 2
þðn  iÞ 2 þ ðm  aÞ2 þ 4i þ ið6  8nÞ
(ii) and the approximation error EIQ ðf ; h; aÞ has the form, 
þ3ðm  aÞð1 þ i  nÞ  6n þ 4n2 ; ð24Þ
000
jEIQ ðf ; h; aÞj 6 C a f 1 ðt 2n Þa h
3
ð18Þ
2ðmaþ2Þ h h
ðmaÞ
ðmaþ1Þ
where C a is a constant depending on a. Bin ¼ ðn  i  1Þ ðm  a  2i þ 2nÞ
Cðm  a þ 3Þ
i
ðmaþ1Þ
þðn  iÞ ð2 þ m  a þ 2i  2nÞ ; ð25Þ

Proof. From the definition of I-operator, we have, and,

Z t 2n 2ðmaÞ h
ðmaÞ h
1 Cin ¼  ðn  iÞ
ðmaþ1Þ
ð2 þ m  a þ 4i  4nÞ
Ia f ðt 2n Þ ¼ ðt2n  sÞa1 f ðsÞds; ð19Þ Cðm  a þ 3Þ
CðaÞ 0 n
ðmaÞ 2
We approximate f ðsÞ over the interval ½t2i ; t 2iþ2  using the quad- þðn  i  1Þ ðm  aÞ2 þ 2i  3ðm  aÞi þ 4i

ratic polynomials (Pandey and Agrawal, 2015) as, 2n þ 3ðm  aÞn  8in þ 4n2 : ð26Þ
  "   #
ðs  t2iþ1 Þ ðs  t 2iþ1 Þ s  t2iþ1 2 (ii) And the approximation error EDQ ðf ; h; aÞ has the form,
f i2 ¼ 1 f 2i þ 1  f 2iþ1
2h h h ðmþ3Þ ðmaÞ 3
  jEDQ ðf ; h; aÞj 6 C 0a kf k1 t 2n h ð27Þ
ðs  t 2iþ1 Þ ðs  t2iþ1 Þ
þ 1þ f 2iþ2 : ð20Þ 0
where C a is a constant depending only a.
2h h
Evaluating Eq. (19) using Eq. (20), the desired approximation of
IQ ðf ; h; aÞ as given in part (i) of the Lemma 1 is obtained.
For proof of the part (ii) of the Lemma 1, we use the following Proof. The proof of the part (i) and part (ii) of the lemma can be
well known result of the interpolation by polynomials. h carried out following the similar steps and replacing a to m  a
ðmÞ
and f ðsÞ by f ðsÞ as described in the proof of the Lemma 1. h

Theorem 1. Let g n ðtÞ be the polynomial interpolating a function 3.2. Cubic scheme (S2)
nþ1
g2C ½a; b at the nodes t 0 ; t 1 ; t 2 ; t 3 . . . ; tn lying in the interval
½a; b. Then for, g 2 C nþ1 ½a; b, there exists a nt 2 ða; bÞ such that,
ðnþ1Þ ðn Þ Qn
En ðtÞ ¼ gðtÞ  g n ðtÞ ¼ g ðnþ1Þ! t
i¼0 ðt  t i Þ. Lemma 3. Suppose that f 2 C 4 ½0; d, and the interval ½0; d is divided
From Eq. (19) and (20) we have, into sub intervals ½t3i ; t 3iþ3  such that t i ¼ ih with
h ¼ 3n d
; i ¼ 0; 12; . . . 3n. Let f i3 is the cubic polynomial approximation
jEIQ ðf ; h; aÞj ¼ jIa f ðtÞ  IQ ðf ; h; aÞj; ¼ jIa f ðt 2n Þ
Z t2n for f to the subintervals ½t3i ; t 3iþ3  then the cubic approximation
1 ICðf ; h; aÞ of the I-operator is given by,
 ðt2n  sÞa1 f ðsÞdsj;
CðaÞ 0
Z t2n
1 (i)
¼ j ðt2n  sÞa1 f ðsÞds
CðaÞ 0 ð21Þ X
n1
n1 Z t2iþ2
X ICðf ; h; aÞ ¼ ðDin f ðt 3i Þ þ Ein f ðt3iþ1 Þ þ F in f ðt 3iþ2 Þ þ Gin f ðt 3iþ3 ÞÞ;
 ðt 2n  sÞa1 f i2 ðsÞduj; i¼0
i¼0 t 2i
n1 Z t 2iþ2
ð28Þ
1 X a1
¼ j ðt 2n  sÞ ðf ðsÞ  f i2 ðsÞÞdsj; where,
CðaÞ i¼0 t 2i
n
a
3a h ð1þaÞ  2
Using Theorem 1, and Eq. (21) we have, Din ¼ 2ðn  i  1Þ a þ að4  9i þ 9nÞ
2Cða þ 4Þ
n1 Z t 2iþ2
X
1 000 þ3ð1 þ 3i  3nÞð2 þ 3i  3nÞÞ
 f j ðt 2n  sÞa1 ðs  t 2i Þðs  t 2iþ1 Þðs  t2iþ2 Þdsj;
6CðaÞ 1 i¼0 t2i a
ð22Þ þðn  iÞ 2a3 þ a2 ð12 þ 11i  11nÞ
3 n1 Z t2iþ2
X 
h 000 000
ðt2n  sÞa1 dsj ¼ C a f 1 ðt 2n Þa h ;
3
6 pffiffiffi f 1j 2
þa 22 þ 36ði  nÞ þ 55ði  nÞ
9 3CðaÞ i¼0 t2i

where Ca is constant depending on a. The proof is completed. þ6ð1 þ 3i  3nÞð2 þ 3i  3nÞð1 þ i  nÞÞg; ð29Þ

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4 K. Kumar et al. / Journal of King Saud University – Science xxx (2018) xxx–xxx

3aþ2 h n where Da is constant depending on a.

a
ð1þaÞ  2
Ein ¼ 2ð n  i Þ a þ 5að1 þ i  nÞ This completes the proof. h
2Cða þ 4Þ
þ3ð2 þ 3i  3nÞð1 þ i  nÞÞ
ðaþ1Þ  2
ðn  i  1Þ a þ að3  8i þ 8nÞ Lemma 4. Suppose that f 2 C mþ4 ½0; d, and the interval ½0; d is
þ6ð2 þ 3i  3nÞði  nÞÞg; ð30Þ divided into sub intervals ½t3i ; t 3iþ3  such that ti ¼ ih with
h ¼ 3n
d
; i ¼ 0; 12; . . . 3n. Let f i3 is the cubic polynomial approximation
3aþ2 h n
a
ðaþ1Þ  2
ðmÞ
for f ðsÞ to the subintervals ½t 3i ; t 3iþ3  then the cubic approximation
F in ¼ 2ðn  i  1Þ a þ 5aðn  iÞ
2Cða þ 4Þ DCðf ; h; aÞ of the D-operator is given by,
ð1þaÞ
þ3ð1 þ 3i  3nÞði  nÞÞ  ðn  iÞ ða2 þ að5 þ 8i  8nÞ
(i)
þ6ð1 þ 3i  3nÞð1 þ i  nÞÞg; ð31Þ
n1 
X ðmÞ ðmÞ ðmÞ
a a n DCðf ; h; aÞ ¼ Din f ðt 3i Þ þ E in f ðt 3iþ1 Þ þ F in f ðt 3iþ2 Þ
3 h ð1þaÞ
Gin ¼ 2ðn  iÞ ða2 þ að5 þ 9i  9nÞ i¼0

2Cða þ 4Þ ðmÞ
þGin f ðt 3iþ3 Þ ; ð38Þ
þ3ð1 þ 3i  3nÞð2 þ 3i  3nÞÞ
a where,
ðn  i  1Þ ð2a3 þ a2 ð1  11i þ 11nÞ
Þ n 
ðma
2 3ðmaÞ h ðmaþ1Þ
það3 þ 36ði  nÞ þ 17ði  nÞÞ Din ¼ 2ðn  i  1Þ ðm  aÞ2
2Cðm  a þ 4Þ
6ð1 þ 3i  3nÞð2 þ 3i  3nÞði  nÞÞg; ð32Þ
þðm  aÞð4  9i þ 9nÞ þ 3ð1 þ 3i  3nÞð2 þ 3i  3nÞÞ

(ii) and the approximation error EIC ðf ; h; aÞ has the form, ðmaÞ
þðn  iÞ 2ðm  aÞ3 þ ðm  aÞ2 ð12 þ 11i  11nÞ
0000
jEIC ðf ; h; aÞj 6 Da f 1 ðt3n Þa h
4
ð33Þ 
2
þðm  aÞ 22 þ 36ði  nÞ þ 55ði  nÞ
where Da is a constant depending on a.
þ6ð1 þ 3i  3nÞð2 þ 3i  3nÞð1 þ i  nÞÞg;
ð39Þ

Þn 
ðma
Proof. From Eq. (1), we have, 3ðmaþ2Þ h ðmaþ1Þ
E in ¼ 2ð n  i Þ ðm  aÞ2
n1 Z
X t3iþ3 2Cðm  a þ 4Þ
Ia f ðt3n Þ ¼ ðt 3n  sÞa1 f ðsÞ; ð34Þ þ5ðm  aÞð1 þ i  nÞ þ 3ð2 þ 3i  3nÞð1 þ i  nÞÞ
i¼0 t 3i 
ðmaþ1Þ
ðn  i  1Þ ðm  aÞ2 þ ðm  aÞð3  8i þ 8nÞ
We approximate f ðsÞ over the interval ½t 3i ; t3iþ3 using the cubic
polynomials as, þ6ð2 þ 3i  3nÞði  nÞÞg; ð40Þ
 
ðs  t3iþ1 Þðs  t3iþ2 Þðs  t3iþ3 Þ
f i3 ¼  f 3i
Þn 
ðma
6h
3 3ðmaþ2Þ h ðmaþ1Þ
  F in ¼ 2ðn  i  1Þ ðm  aÞ2
ðs  t3i Þðs  t 3iþ2 Þðs  t3iþ3 Þ 2Cðm  a þ 4Þ
þ f 3iþ1
2h
3 þ5ðm  aÞðn  iÞ þ 3ð1 þ 3i  3nÞði  nÞÞ
 
ðs  t3i Þðs  t 3iþ1 Þðs  t 3iþ3 Þ ðn  iÞ
ðmaþ1Þ 2
ððm  aÞ þ ðm  aÞð5 þ 8i  8nÞ
þ  3
f 3iþ2

2h
 þ6ð1 þ 3i  3nÞð1 þ i  nÞÞg; ð41Þ
ðs  t3i Þðs  t 3iþ1 Þðs  t3iþ2 Þ
þ f 3iþ3 ; ð35Þ
Þ n
ðma
3ðmaÞ h
3
6h ðmaþ1Þ
Gin ¼ 2ðn  iÞ ððm  aÞ2
Evaluating Eq. (34) using Eq. (35), the desired approximation of 2Cðm  a þ 4Þ
ICðf ; h; aÞ as given in part (i) of the Lemma 1 is obtained. Proof of þðm  aÞð5 þ 9i  9nÞ þ 3ð1 þ 3i  3nÞð2 þ 3i  3nÞÞ
the second part of Lemma 3 is established here using Lemma 1. ðmaÞ
From Eq. (34) and Eq. (35), we have, ðn  i  1Þ ð2ðm  aÞ3 þ ðm  aÞ2 ð1  11i þ 11nÞ
2
jEIC ðf ; h; aÞj ¼ jIa f ðtÞ  ICðf ; h; aÞj;
þðm  aÞð3 þ 36ði  nÞ þ 17ði  nÞÞ
Z t3n 6ð1 þ 3i  3nÞð2 þ 3i  3nÞði  nÞÞg; ð42Þ
1
¼ jIa f ðt3n Þ  ðt3n  sÞa1 f ðsÞdsj;
CðaÞ 0 (ii) and the approximation error EDC ðf ; h; aÞ takes the form,
Z t3n Xn1 Z t3iþ3
1
¼ j ðt3n  sÞa1 f ðsÞds  ðt 3n  sÞa1 f i3 ðsÞduj; jEDC ðf ; h; aÞj 6 D0a jjf
ðmþ4Þ ðmaÞ 4
jj1 t 3n h ð43Þ
CðaÞ 0 i¼0 t 3i
n1 Z t3iþ3
1 X where D0a is a constant depending only a.
¼ j ðt 3n  sÞa1 ðf ðsÞ  f i3 ðsÞÞdsj;
CðaÞ i¼0 t3i
ð36Þ

Using Lemma 1 and Eq. (36), we have, Proof. The proof of the part (i) and part (ii) of above lemma can be
n1 Z t 3iþ3
carried out using the similar steps and replacing a to m  a and
1 0000 X ðmÞ
 f j ðt 3n  sÞa1 ðs  t 3i Þðs  t 3iþ1 Þðs f ðsÞ by f ðsÞ as described in the proof of the Lemma 3. h
24CðaÞ 1 i¼0 t 3i

 t 3iþ2 Þðs  t 3iþ2 Þdsj; 4. Results and discussions

n1 Z t 3iþ3
0000 X
4
h 0000
ðt 3n  sÞa1 ds ¼ Da f 1 ðt3n Þa h ;
4
 f1 ð37Þ Here, we consider the test example as illustrated by Odibat
CðaÞ i¼0 t3i
(2006), with f ðsÞ ¼ sin s in the I-operator for the comparison pur-

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 K. Kumar et al. / Journal of King Saud University – Science xxx (2018) xxx–xxx 5

Table 1
Numerical results obtained using scheme S1 for I-operator, Ia f ðtÞ (1) for f ðtÞ ¼ sin t anda ¼ 0:5.

n h IQ ðf ; h; 0:5Þ EIQ ðf ; h; 0:5Þ EIL ðf ; h; 0:5Þ

(Odibat, 2006)
10 0.05 0.6696838267942012 4:32783  107 1:30405  104
20 0.025 0.6696842212539105 3:83238  10 8
3:32769  105
40 0.0125 0.6696842561832945 3:39437  109 8:4373  106
10
80 0.00625 0.6696842592769013 3:00762  10 2:1301  106

Table 2
Numerical results obtained using scheme S1 for I-operator, Ia f ðtÞ (1) for f ðtÞ ¼ sin t and a ¼ 1.

n h IQ ðf ; h; 1Þ EIQ ðf ; h; 1Þ EIL ðf ; h; 1Þ
(Odibat, 2006)
10 0.05 0.4596977100983376 1:59665  108 9:57743  105
20 0.025 0.4596976951295424 9:97682  10 10
2:39428  105
40 0.0125 0.4596976941942119 6:23516  1011 5:9856  106
12
80 0.00625 0.4596976941357571 3:89683  10 1:4964  106

Table 3
Numerical results obtained using scheme S1 for of the I-operator, Ia f ðtÞ (1) for f ðtÞ ¼ sin t and a ¼ 1:5 .

n h IQ ðf ; h; 1:5Þ EIQ ðf ; h; 1:5Þ EIL ðf ; h; 1:5Þ

(Odibat, 2006)
10 0.05 0.2823225014367666 1:21065  107 5:89010  105
20 0.025 0.2823223880461549 7:67480  109 1:47111  105
40 0.0125 0.2823223808560551 4:84695  1010 3:6767  106
80 0.00625 0.2823223804019575 3:05977  1011 9:191  107

Table 4 the I-operator is calculated for different values of the step size and
Convergence order using scheme S1 for Ia f ðtÞ (1) for f ðtÞ ¼ sin t and a ¼ 0:5. fractional order a, and are placed in the Tables 1–3. For the compar-
h ¼ 2n
1 MAE (S1) Convergence order ison purpose, the similar values of the parameters such as fractional
1 6
order a and step size are chosen as presented in Odibat (2006). It is
4:89232  10
10
clear from the Tables 1–3, that the scheme S1 works well and
1
20 4:32783  107 3.49733
achieves the better accuracy compare to the linear scheme pre-
1
40 3:83238  108 3.49733
sented in Odibat (2006). From, Tables 1–3, it can be seen that the
1
80 3:39437  109 3.49702
errors are getting reduced as we increase the number of subinter-
1
160 3:00762  1010 3.49645
vals. The convergence order of the scheme S1 for the results dis-
cussed in Tables 1–3 are presented in Tables 4–6 respectively.
From Tables 4–6, it can be seen that the scheme S1 achieves the con-
Table 5
Convergence order using scheme S1 forIa f ðtÞ (1) for f ðtÞ ¼ sin t and a ¼ 1 .
vergence order more than 3. Further, we observe that the scheme S2
works well and achieves the better accuracy compared to the
h ¼ 2n
1 MAE (S1) Convergence order
scheme (Odibat, 2006), and the scheme S1. The results of scheme
1
10 2:55692  10 7 S2 are presented in Tables 7–9. Table 10 represents the convergence
1
20 1:59665  108 4.00129 order of the scheme S2 for a particular case considered in Table 8.
1
40 9:97682  1010 4.00032 Schemes S1 and S2 are also applied to approximate the Caputo
1
80 6:23516  1011 4.00008 derivative (D-operator). We consider the test function f ðsÞ ¼ sin s,
1
160 3:89683  1012 4.00005 the fractional order a ¼ 0:5 and vary the step size to generate the
numerical results. Numerical results using schemes S1 and S2 for
approximations of D-operators are showed in Tables 11and 12
Table 6 respectively. In the tables, MAE denotes the maximum absolute
Convergence order using scheme S1 for Ia f ðtÞ (1) for f ðtÞ ¼ sin t and a ¼ 1:5 . error and the convergence order is calculated as: Convergence
h ¼ 2n
1 MAE (S1) Convergence order order = lg[MAE(h)/MAE(h/2)]/lg(2).
It is noticed that exact value of the fractional integral Ia sin t is cal-
1
1:90186  106
10 culated using the formula stated in Odibat (2006), as,
1
20 1:21065  107 3.97356 P ð1Þi t2iþ1
1
7:67480  109 3.97951 Ia sint ¼ t a 1 i¼0 Cðaþ2iþ2Þ t > 0, and value at t ¼ 1, is used to compute
40
1
80 4:84695  1010 3.98498 the error.
1
160 3:05977  1011 3.98558

5. Application: Solving Abel’s integral equation

pose. Lemmas 1 and 2 and Lemma 3 and 4 are applied for the
approximation of the I and D-operators for different values of the To establish the application of the Quadratic and Cubic schemes
fractional order a, and numerical results are obtained. The numeri- for the D-operator as discussed in Section 4, we go through Abel
cal results using Quadratic and Cubic approximation schemes for integral equation of the first kind,

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6 K. Kumar et al. / Journal of King Saud University – Science xxx (2018) xxx–xxx

Table 7
The approximation results of the I-operator, Ia f ðtÞ (1) for f ðtÞ ¼ sin t and a ¼ 0:5.

n h ICðf ; h; 0:5Þ EIC ðf ; h; 0:5Þ EIL ðf ; h; 0:5Þ

(Odibat, 2006)
10 1/30 0.6696842705520611 1:09744  108 1:30405  104
20 1/60 0.6696842602530784 6:75415  10 10
3:32769  105
40 1/120 0.6696842596262024 4:85388  1011 8:4373  106
10
80 1/240 0.6696842596896193 1:11956  10 2:1301  106

Table 8
The approximation results of the I-operator, Ia f ðtÞ (1) for f ðtÞ ¼ sin t and a ¼ 1.

n h ICðf ; h; 1Þ EIC ðf ; h; 1Þ EIL ðf ; h; 1Þ

(Odibat, 2006)
10 1/30 0.4596977012278377 7:09598  109 9:57743  105
20 1/60 0.4596976945752709 4:43411  10 10
2:39428  105
40 1/120 0.4596976941318603 6:23516  1011 5:9856  106
12
80 1/240 0.4 3:89683  10 1:4964  106

Table 9
The approximation results of the I-operator, Ia f ðtÞ (1) for f ðtÞ ¼ sin t and a ¼ 1:5.

n h ICðf ; h; 1:5Þ EIC ðf ; h; 1:5Þ EIL ðf ; h; 1:5Þ

(Odibat, 2006)
10 1/30 0.2823223847105428 4:33918  109 5:89010  105
20 1/60 0.2823223806431222 2:71762  1010 1:47111  105
40 1/120 0.282322380395719 2:43592  1011 3:6767  106
80 1/240 0.2823223804266486 5:52888  1011 9:191  107

Z t
gðsÞ
f ðtÞ ¼ ds; 0 < a < 1; 0 6 t 6 d; ð44Þ
Table 10 0 ðt  sÞa
Convergence order using scheme S2 for Ia f ðtÞ (1) for f ðtÞ ¼ sin t and a ¼ 1.
where, f 2 C 1 ½a; b is given function satisfying f ð0Þ ¼ 0 and gðsÞ is
h ¼ 3n
1 MAE (S2) Convergence order the unknown function. The solution to Eq. (44) can be obtained as,
1
1:13626  107 Z 0
15 sinðatÞ t
f ðsÞ
1
7:09598  109 4.00115 gðtÞ ¼ dt: ð45Þ
30
p 0 ðt  sÞ1a
1
60 4:43411  1010 4.00029
1
120 2:77117  1011 4.00008
The solution given by Eq. (45) can also be presented in terms of
1
240 1:73189  1012 4.00008
the I and D-operators, using definition (Eq. (1)) as follows,

f ðtÞ ¼ Cð1  aÞI1a gðtÞ ð46Þ

Table 11
Numerical results obtained using scheme S1 for the D-operator, Da f ðsÞ (1) for f ðtÞ ¼ sin t and a ¼ 0:5.

k h DQ ðf ; h; 0:5Þ EDQ ðf ; h; 0:5Þ EDL ðf ; h; 0:5Þ

(Odibat, 2006)
10 0.05 0.846057377964953 5:91241  107 1:706097  104
20 0.025 0.84605684138235 5:46582  10 8
4:30544  105
40 0.0125 0.846056791702752 4:9786  109 1:08365  105
10
80 0.00625 0.846056787174921 4:50768  10 2:7222  106

Table 12
the approximation results of the D-operator, Da f ðsÞ (1) for f ðtÞ ¼ sin t and a ¼ 0:5.

k h DCðf ; h; 0:5Þ EDC ðf ; h; 0:5Þ EDL ðf ; h; 0:5Þ

(Odibat, 2006)
10 1/30 0.846056800339386 1:36152  108 1:706097  104
20 1/60 0.846056787554831 8:30678  1010 4:30544  105
40 1/120 0.846056786769922 4:57691  1011 1:08365  105
80 1/240 0.846056786169989 5:54164  1010 2:7222  106

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a
Using the property D-operator is left inverse of I-operator and 3a h ð1þaÞ
Din ¼ f2ðn  i  1Þ ða2 þ að4  9i
simplifying Eq. (46), it follows that, 2Cð1  aÞCða þ 4Þ
a
1 þ 9nÞ þ 3ð1 þ 3i  3nÞð2 þ 3i  3nÞÞ þ ðn  iÞ ð2a3
gðtÞ ¼ D1a f ðtÞ: ð47Þ
Cð1  aÞ þ a2 ð12 þ 11i  11nÞ þ að22 þ 36ði  nÞ þ 55ði  nÞÞ
2

Now, we apply Lemma 2 and Lemma 4 to Eq. (47) to get the þ 6ð1 þ 3i  3nÞð2 þ 3i  3nÞð1 þ i  nÞÞg; ð55Þ
approximate solution of the Abel’s integral equation given by Eq.
(44).
3aþ2 h
a
ð1þaÞ
E in ¼ f2ðn  iÞ ða2 þ 5að1 þ i  nÞ
2Cð1  aÞCða þ 4Þ
Lemma 5. Let 0 < t < d and suppose that the interval ½0; d is
ðaþ1Þ
subdivided into n sub intervals ½t2i ; t 2iþ2 , i ¼ 1; 2; 3 . . . n  1 of length þ 3ð2 þ 3i  3nÞð1 þ i  nÞÞ  ðn  i  1Þ ða2
h ¼ 2n
d
by using the nodes t i ¼ ih; i ¼ 0; 1 . . . 2n. Then the approximate þ að3  8i þ 8nÞ þ 6ð2 þ 3i  3nÞði  nÞÞg; ð56Þ
solution g~ðtÞ to the solution gðtÞ of the Abel integral equation given by
Eq. (47) can be expressed using scheme S1 as, 3aþ2 h
a
ðaþ1Þ
F in ¼ f2ðn  i  1Þ ða2 þ 5aðn  iÞ
X
n1
0 0 0
2Cð1  aÞCða þ 4Þ
g~ðtÞ ¼ ðAin f ðt2i Þ þ Bin f ðt 2iþ1 Þ þ Cin f ðt 2iþ2 ÞÞ; ð48Þ ð1þaÞ
i¼0 þ 3ð1 þ 3i  3nÞði  nÞÞ  ðn  iÞ ða2 þ að5 þ 8i

where,  8nÞ þ 6ð1 þ 3i  3nÞð1 þ i  nÞÞg; ð57Þ

a a
2 h ðaþ1Þ 3a h
a
Ain ¼ fðn  i  1Þ ð2  a þ 4i  4nÞ Gin ¼ f2ðn  iÞ
ð1þaÞ
ða2 þ að5 þ 9i  9nÞ
Cða þ 3ÞCð1  aÞ 2Cð1  aÞCða þ 4Þ
a 2
þ ðn  iÞ ð2 þ a2 þ 4i þ ið6  8nÞ þ 3að1 þ i  nÞ þ 3ð1 þ 3i  3nÞð2 þ 3i  3nÞÞ  ðn  i  1Þ ð2a3
a

 6n þ 4n2 Þg; ð49Þ þ a2 ð1  11i þ 11nÞ þ að3 þ 36ði  nÞ þ 17ði  nÞÞ

2

 6ð1 þ 3i  3nÞð2 þ 3i  3nÞði  nÞÞg: ð58Þ

2ðaþ2Þ h
a
ðaþ1Þ
Bin ¼ fðn  i  1Þ ða  2i þ 2nÞ
Cða þ 3ÞCð1  aÞ Moreover, if f 2 C 5 ½0t; then gðtÞ ¼ g~ðtÞ  Cð1
1
aÞ EðtÞ with
ðaþ1Þ
þ ðn  iÞ ð2 þ a þ 2i  2nÞg; ð50Þ ð5Þ 4
jEðtÞj 6 Sa f 1 t a h ; ð59Þ
a a
2 h ðaþ1Þ where Ta is the constant depending only on a and
Cin ¼  fðn  iÞ ð2 þ a þ 4i  4nÞ 0000 0 0000 0
Cða þ 3ÞCð1  aÞ f 1 ¼ maxx2½0t jf ðxÞj.
a 2
þ ðn  i  1Þ ða2 þ 2i  3ai þ 4i  2n þ 3an  8in þ 4n2 Þg:
ð51Þ Proof. The proof can be acquired using some simple calculations
to Eq. (47) together with the scheme S2 as discussed in Lemma
Moreover, if f 2 C 4 ½0t, then gðtÞ ¼ g~ðtÞ  Cð1
1
aÞ EðtÞ with 4. The results can be obtained using Lemma 4 to Eq. (53) with some
0000 3 simple calculation. To validate the proposed approximation, an
jEðtÞj 6 Sa f 1 ta h ; ð52Þ
illustrative example from Jahanshahi et al. (2014), is considered
where Sa is the constant depending only on a and and numerical results are presented. h
0000 0000
f 1 ¼ maxx2½0t jf ðxÞj.
Example 5.1. Consider the Abel’s integral equation (Jahanshahi
R t gðsÞ
Proof. The solution of the Abel’s integral equation (Eq. (44)) repre- et al., 2014), et  1 ¼ 0 ðtsÞ1=2
ds. The exact solution for this prob-
sented by Eq. (47) in the form of D-operator can be expressed as, etffiffiffi
pffiffiffiffi
lem is given by, ðtÞ ¼ p erf ð tÞ, where erf ðxÞ is error function, that
p
Rt
is, erf ðtÞ ¼ p2ffiffipffi 0 es ds:
2

sinðapÞCðaÞ
gðtÞ ¼ D1a f ðtÞ ð53Þ Example 5.1 is solved using the Lemma 5 and Lemma 6 and the
p obtained approximate results are presented in Tables 13-14
The results can be obtained using Lemma 2 to Eq. (53) with respectively. For solving this problem, the number of subintervals
some simple calculation. To validate the proposed approximation, is considered as 10 and 100 and in each case the errors are
an illustrative example from Jahanshahi et al. (2014), is considered obtained. From the Tables 13-14, it is clear that the error obtained
and the approximate solution is obtained. h by the proposed scheme is comparatively better even with the less
number of subintervals than the method presented in Jahanshahi
et al. (2014).
Lemma 6. Let 0 < t < d and suppose that the interval ½0; d is subdi-
vided into n sub intervals ½t3i ; t3iþ3 , i ¼ 0; 1; 2; 3 . . . 3n  1 of length
h ¼ 3n
d
by using the nodes ti ¼ ih; i ¼ 0; . . . 2n. Then the approximate Example 5.2. Consider the following Abel integral equation
R t gðsÞ
solution g~ðtÞ to the solution gðtÞ of the Abel integral equation given (Jahanshahi et al., 2014), such that, t ¼
0 ðtsÞ4=5
ds; having exact
by Eq. (47) can be expressed using scheme S2 as, sinðpÞ
solution, gðtÞ ¼ 54 p 5 t4=5 .
X
n1
0 0 0 0 Lemma 5 and Lemma 6 are applied to solve the considered
g~ðtÞ ¼ ðDin f ðt3i Þ þ E in f ðt3iþ1 Þ þ F in f ðt 3iþ2 Þ þ Gin f ðt3iþ3 ÞÞ; ð54Þ integral equation and the obtained numerical results are presented
i¼0
in Tables 15–16 respectively. The numerical results are obtained
where, using the values of n ¼ 5; 10 and the results are presented.

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8 K. Kumar et al. / Journal of King Saud University – Science xxx (2018) xxx–xxx

Table 13
Comparison of the exact solution, approximate solution using Lemma 5 and the respective errors for n ¼ 10; 100.

ti Exact solution Approx. sol. n ¼ 10 Error n ¼ 10 Error n ¼ 100 Error (Jahanshahi et al., 2014) for
n ¼ 100
0.1 0.2152905021493694 0.2152905022928531 1:434  1010 1:72  1010 3.75 108
9 12
0.2 0.3258840763232928 0.3258840781067156 1:783  10 1:99  10 2.61 108
0.3 0.427565657562311 0.4275656656608028 8:098  109 5:18  1013 2.14 107

Table 14
Comparison of the exact solution, approximate solution using Lemma 6 and respective errors for n ¼ 10; 100.

ti Exact solution Approx. sol. n ¼ 10 Error n ¼ 10 Error n ¼ 100 Error (Jahanshahi et al., 2014) for
n ¼ 100
0.1 0.2152905021493694 0.2152905021496013 2:31787  1013 4:34356  1010 3.75 108
0.2 0.3258840763232928 0.325884076331575 8:28221  1012 6:19821  1010 2.61 108
0.3 0.427565657562311 0.4275656576182749 5:5964  10 11
7:65846  10 10
2.14 107

Table 15
Comparison of the exact solution, approximate solution using Lemma 5 and respective errors for n ¼ 5; 10.

ti Exact solution Approx. sol. n ¼ 5 Error n ¼ 5 Error n ¼ 10 Error (Jahanshahi et al., 2014) for
n ¼ 10
0.4 0.112363903648632 0.1123639036486326 2:77556  1016 2:58127  1015 1  1010
0.5 0.1343243751756705 0.1343243751756709 3:60822  1016 3:13638  1015 1  1010
0.6 0.1554174667790617 0.155417466779062 3:33067  1016 3:60822  1015 6 1011

Table 16
Comparison of the exact solution, approximate solution using Lemma 6 and respective errors for n ¼ 5; 10.

ti Exact solution Approx. sol. n ¼ 5 Error n ¼ 5 Error n ¼ 10 Error (Jahanshahi et al., 2014) for
n ¼ 10
0.4 0.1123639036486324 0.1123639036486273 5:06539  1015 2:35562  1013 1  1010
0.5 0.1343243751756705 0.1343243751756645 5:9952  1015 2:03615  1013 1  1010
15 13
0.6 0.1554174667790617 0.1554174667790548 6:93889  10 1:7035  10 6 1011

Absolute errors for each values of the subinterval n are also
presented. Numerical results show that the presented schemes
works well and produce the approximate solution to high accuracy.
6. Conclusions
We studied two approximation schemes namely Quadratic and
Cubic schemes for Riemann-Liouville and Caputo derivatives. The
error convergences for the presented schemes are obtained. The
presented schemes are successfully validated on test cases. It is
clear that the presented schemes show the advantages over the
scheme discussed in Odibat (2006). Further, the presented schemes
are applied to solve Abel’s integral equation. The numerical results
obtained by the presented schemes are appreciable as compare to
the schemes presented in Jahanshahi et al. (2014). The schemes
presented in the paper could be considered as the higher order
approximation methods for the approximations of the fractional
integrals and fractional derivatives.
Acknowledgements
Authors are thankful to the reviewers for their comments incor-
porated in the manuscript. Second author acknowledges National
Board of Higher Mathematics, Department of Atomic Energy, Govt.
of India for providing funding support through research project
Ref. No. NBHM/R.P. 70/2015/Fresh/163.
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