Citation: Saleh S. Redhwan, Sadikali L. Shaikh, Mohammed S. Abdo. Implicit fractional differential equation with anti-periodic boundary condition involving Caputo-Katugampola type[J]. AIMS Mathematics, 2020, 5(4): 3714-3730. doi: 10.3934/math.2020240
[1] | Arjumand Seemab, Mujeeb ur Rehman, Jehad Alzabut, Yassine Adjabi, Mohammed S. Abdo . Langevin equation with nonlocal boundary conditions involving a $ \psi $-Caputo fractional operators of different orders. AIMS Mathematics, 2021, 6(7): 6749-6780. doi: 10.3934/math.2021397 |
[2] | Fouzia Bekada, Saïd Abbas, Mouffak Benchohra, Juan J. Nieto . Dynamics and stability for Katugampola random fractional differential equations. AIMS Mathematics, 2021, 6(8): 8654-8666. doi: 10.3934/math.2021503 |
[3] | Thanin Sitthiwirattham, Rozi Gul, Kamal Shah, Ibrahim Mahariq, Jarunee Soontharanon, Khursheed J. Ansari . Study of implicit-impulsive differential equations involving Caputo-Fabrizio fractional derivative. AIMS Mathematics, 2022, 7(3): 4017-4037. doi: 10.3934/math.2022222 |
[4] | H. H. G. Hashem, Hessah O. Alrashidi . Qualitative analysis of nonlinear implicit neutral differential equation of fractional order. AIMS Mathematics, 2021, 6(4): 3703-3719. doi: 10.3934/math.2021220 |
[5] | Abd-Allah Hyder, Mohamed A. Barakat, Doaa Rizk, Rasool Shah, Kamsing Nonlaopon . Study of HIV model via recent improved fractional differential and integral operators. AIMS Mathematics, 2023, 8(1): 1656-1671. doi: 10.3934/math.2023084 |
[6] | J. Vanterler da C. Sousa, E. Capelas de Oliveira, F. G. Rodrigues . Ulam-Hyers stabilities of fractional functional differential equations. AIMS Mathematics, 2020, 5(2): 1346-1358. doi: 10.3934/math.2020092 |
[7] | Qun Dai, Shidong Liu . Stability of the mixed Caputo fractional integro-differential equation by means of weighted space method. AIMS Mathematics, 2022, 7(2): 2498-2511. doi: 10.3934/math.2022140 |
[8] | Ugyen Samdrup Tshering, Ekkarath Thailert, Sotiris K. Ntouyas . Existence and stability results for a coupled system of Hilfer-Hadamard sequential fractional differential equations with multi-point fractional integral boundary conditions. AIMS Mathematics, 2024, 9(9): 25849-25878. doi: 10.3934/math.20241263 |
[9] | Zaid Laadjal, Fahd Jarad . Existence, uniqueness and stability of solutions for generalized proportional fractional hybrid integro-differential equations with Dirichlet boundary conditions. AIMS Mathematics, 2023, 8(1): 1172-1194. doi: 10.3934/math.2023059 |
[10] | Hasanen A. Hammad, Hassen Aydi, Hüseyin Işık, Manuel De la Sen . Existence and stability results for a coupled system of impulsive fractional differential equations with Hadamard fractional derivatives. AIMS Mathematics, 2023, 8(3): 6913-6941. doi: 10.3934/math.2023350 |
The topic of fractional-order of differential equations has recently evolved as an interesting field of research. In fact, fractional derivatives types supply a luxurious tool for the description of memory and hereditary properties of various materials and processes. More investigators have found that fractional-order differential equations play important roles in many research fields, such as chemical technology, physics, biotechnology, population dynamics, and economics. On the advanced development of the fractional differential equations have been caught much attention recently due to exact description of nonlinear phenomena, for example, an understanding the behavior of a flow and heat transfer at the nanoscale has been a great interest in recent years, one can find more details in the series of papers published [1,2,3,4,5,6]. In recent years, many classes of differential equations involving the Caputo (Riemann-Liouville, Hilfer, and Hadamard) fractional derivative have been investigated and developed by using different tools from the nonlinear analysis. For more details, see the monographs of Kilbas et al. [7], Malinowska et al. [8], Podlubny [9], and some papers, for instance, [10,11,12] and the references cited therein.
Recently, in [13] the author introduced a new fractional integral, which generalizes the Riemann-Liouville and Hadamard integrals into a single form. For more properties such as expansion formulas, variational calculus applications, control theoretical applications, convexity, and integral inequalities and Hermite-Hadamard type inequalities of this new operator and similar operators, can be found in [14,15,16,17]. The corresponding fractional derivatives were introduced in [8,18,19] which so-called Katugampola fractional operators.
The existence and uniqueness results of fractional differential equations involving Caputo-Katugampola derivative are given in [20], the author used the Peano theorem to obtain the existence and uniqueness of solution for the following Cauchy type problem
cDα;ρ0+x(t)=g(t,x(t)),t∈[0,T], | (1.1) |
x(k)(0)=x(k)0,k=0,1,...,m−1, m=[α]. | (1.2) |
In the same context, R. Almeida in [21], proved the uniqueness of solution of the problem (1.1)–(1.2) involving cDα;ρa+ via Gronwall inequality type. On the other hand, Oliveira and de Oliveira in [22], considered the initial value problem for a nonlinear fractional differential equation including Hilfer-Katugampola derivative of the form
ρDα,βa+x(t)=g(t,x(t)),t∈J=[a,b], | (1.3) |
ρI1−γa+x(a)=c,γ=α+β−αβ. | (1.4) |
They used the generalized Banach fixed point theorem to investigate the existence and uniqueness results on the problem (1.3)–(1.4).
The recent development of implicit fractional differential equations and the theoretical analysis can be seen in [23,24,25,26]. Some anti-periodic boundary value problems for fractional differential equations were also discussed in [27,28,29,30]. In order to investigate the different kinds of stability in the Ulam sense for fractional differential equations, we mention the works [31,32,33,34].
To the best of our knowledge, the implicit fractional differential equations with anti-periodic boundary conditions and Caputo-Katugampola type have not yet been studied widely till the present day. So, in this paper, we investigate a new class of Caputo-Katugampola type implicit fractional differential equation, that is
cDα;ρa+x(t)=g(t,x(t),cDα;ρa+x(t)), t∈J=[a,T]. | (1.5) |
x(a)+x(T)=0, | (1.6) |
where 0<α<1, cDα;ρa+ is the fractional derivatives of order α in the Caputo-Katugampola sense, and g:J×R⟶R is an appropriate function.
The purpose of this paper is to study the existence, uniqueness and Ulam-Hyers stability of solutions of the given problem (1.5)–(1.6). Our study is based on fixed point theorems due to Banach and Krasnoselskii [35], and generalized Gronwall inequality [36].
This is the recent and new work on the boundary value problem for implicit fractional differential equations with an anti-periodic condition involving Caputo-Katugampola fractional derivative. The proposed problem is more generalized, and some it in the literature are the special cases of it. Moreover, our analysis can also be applied to the addressed problems by selecting the with the convenient parameter of ρ, i.e., The Caputo-Katugampola fractional derivative cDα;ρa+ is an interpolator of the following fractional derivatives: standard Caputo (ρ→1, a→0)[37], Caputo-Hadamard (ρ→0) [38], Liouville (ρ→1, a→0) [7], and Weyl (ρ→1, a→−∞) [7].
The paper is systematized as follows: In the section 2, we survey briefly the properties of Katugampola fractional integral and Caputo-Katugampola fractional derivative, and we also introduce the fundamental tools related to our analysis and proving some axiom lemmas which play a key role in the sequel. Section 3 and 4 are devoted to the existence, uniqueness and stability results of the problem (1.5)–(1.6) by applying the Krasnoselskii/Banach fixed point theorem, and generalized Gronwall inequality. The last section promotes our outcomes to problem (1.5)–(1.6)) by giving illustrative examples to justify the provided results.
We shall start this section with recall some essential lemmas, basic definitions, lemmas and preliminary facts related to our results throughout the paper. Let J=[a,T] (−∞<a<T<∞) be a finite interval of R. Denote C(J,R) be the Banach space of all continuous functions from J into R endowed with the norm given by
‖z‖C=supt∈J|z(t)|:t∈J}, |
for z∈C(J,R). Cn(J,R) (n∈N0) denotes the set of mappings having n times continuously differentiable on J.
For a<T, c∈R and 1≤p<∞, define the function space
Xpc(a,T)={z:J→R:‖z‖Xpc=(∫Ta|tcz(t)|pdtt)1p<∞}. |
for p=∞,
‖z‖Xpc=esssupa≤t≤T[|tcz(t)|]. |
Definition 2.1. [13] Let t>a be two reals, α>0, ρ>0, c∈R and z∈Xpc(a,T). The left-sided Katugampola fractional integral of order α with dependence on a parameter ρ is defined by
Iα;ρa+z(t)=ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1z(τ)dτ, | (2.1) |
where, Γ(.) is a gamma function.
Definition 2.2. [18] Let n−1<α<n, (n=[α]+1), ρ>0, c∈R and z∈Xpc(a,T). The left-sided Katugampola fractional derivative of order α with dependence on a parameter ρ is defined as
Dα;ρa+z(t)=(t1−ρddt)nIn−α;ρa+z(t)=γn ρα−n+1Γ(n−α)∫taτρ−1(tρ−τρ)n−α−1z(τ)dτ, t>a, | (2.2) |
where γ=(t1−ρddt). In particular, if 0<α<1, ρ>0, and z∈C1(J,R), we have
Dα;ρa+z(t)=(t1−ρddt)I1−α;ρa+z(t)=γραΓ(1−α)∫taτρ−1(tρ−τρ)−αz(τ)dτ, t>a. |
Definition 2.3. [18] Let α≥0, n=[α]+1. If z∈Cn(J,R). The left sided Caputo-Katugampola fractional derivative of order α with a parameter ρ>0 is defined by
CDα;ρa+z(t)=Dα;ρa+[z(t)−n−1∑k=0z(k)ρ(a)k!ρ−k(tρ−aρ)k], | (2.3) |
where z(k)ρ(t)=(t1−ρddt)kz(t). In case 0<α<1, and z∈C1(J,R), we have
CDα;ρa+z(t)=Dα;ρa+[z(t)−z(a)]. | (2.4) |
From (2.4) and (2.2), we obtain
CDα;ρa+z(t)=γραΓ(1−α)∫taτρ−1(tρ−τρ)−α[z(τ)−z(a)]dτ, t>a, γ=(t1−ρddt) |
Obviously, if α∉N0, and z∈C1(J,R), then the Caputo-Katugampola fractional derivative exists a.e, moreover, we have
CDα;ρa+z(t)=ραΓ(1−α)∫taτρ−1(tρ−τρ)−αz(1)ρ(τ)dτ, t>a,=I1−α;ρa+z(1)ρ(t). |
Also, if α∈N, then CDα;ρa+z(t)=z(n)ρ(t). Particularly, CD0;ρa+z(t)=z(0)ρ(t)=z(t).
Lemma 2.4. [13] Iα;ρa+ is bounded on the function space Xpc(a,T).
Lemma 2.5. [13] Let α>0, β>0, z ∈Xpc(a,T) (1≤p≤∞), ρ,c∈R, ρ≥c. Then we have
Iα;ρa+Iβ;ρa+z(t)=Iα+β;ρa+z(t),cDα;ρa+ρIαa+z(t)=z(t). |
Lemma 2.6. [13,18] Let t>a, α,δ∈(0,∞), and Iα;ρa+,Dα;ρa+ and CDα;ρa+are according to (2.1), (2.2) and (2.3) respectively. Then we have
Iα;ρa+(tρ−aρ)δ−1=ρ−αΓ(δ)Γ(δ+α)(tρ−aρ)α+δ−1, |
CDα;ρa+(tρ−aρ)δ−1=ρ+αΓ(δ)Γ(δ−α)(tρ−aρ)δ−α−1, |
and
CDα;ρa+(tρ−aρ)k=0,α≥0,k=0,1,…,n−1. |
Particularly, CDα;ρa+(1)=0.
Lemma 2.7. [39] Let α,ρ>0 and x∈C(J,R)∩C1(J,R). Then
1. The Caputo-Katugampola fractional differential equation
cDα;ρa+x(t)=0 |
has a solution
x(t)=c0+c1(tρ−aρρ)+c2(tρ−aρρ)2+....+cn−1(tρ−aρρ)n−1, |
where ci∈R, i=0,1,2,...,n−1 and n=[α]+1.
2. If x,CDα;ρa+x∈C(J,R)∩C1(J,R). Then
Iα;ρa+CDα;ρa+x(t)=x(t)+c0+c1(tρ−aρρ)+c2(tρ−aρρ)2+....+cn−1(tρ−aρρ)n−1, | (2.5) |
where ci∈R, i=0,1,2,...,n−1 and n=[α]+1.
Lemma 2.8. [36] Let α>0, v,w be two integrable functions and z a continuous function, with domain [a,T]. Assume that v and w are nonnegative; and let z is nonnegative and nondecreasing. If
v(t)≤w(t)+z(t)ρ1−α∫taτρ−1(tρ−τρ)α−1v(τ)dτ,t∈[a,T], |
then
v(t)≤w(t)+∫ta[∞∑k=1ρ1−kα(z(t)Γ(α))kΓ(kα)τρ−1(tρ−τρ)kα−1w(τ)]dτ,t∈[a,T]. |
Remark 2.9. In particular, if w(t) be a nondecreasing function on J. Then we have
v(t)≤w(t)Eα[g(t)Γ(α)(tρ−aρρ)α], t∈[a,T]. |
where Eα(⋅) is the Mittag-Leffler function defined by
Eα(x)=∞∑k=0xkΓ(αk+1),x∈C, Re(α)>0. |
Theorem 2.10. [35] (Banach fixed point theorem) Let (X,d) be a nonempty complete metric space with Q:X→X is a contraction mapping. Then map Q has a fixed point.
Theorem 2.11. [35] (Krasnoselskii's fixed point theorem) Let X be a Banach space, let Ω be a bounded closed convex subset of X and let Q1,Q2 be mapping from Ω into X such that Q1x+Q2y ∈\ Ω for every pair x,y∈Ω. If Q1 is contraction and Q2 is completely continuous, then there exists z∈Ω such that Q1z+Q2z =z.
In this section, our purpose is to discuss the existence and uniqueness of solutions to the fractional boundary value problem (1.5)–(1.6). The following lemma plays a pivotal role in the forthcoming analysis.
Lemma 3.1. [39] Let 0<α<1, ρ>0 and w∈C(J,R). Then the linear anti-periodic boundary value problem
cDα;ρa+x(t)=w(t),t∈J, | (3.1) |
x(a)+x(T)=0, | (3.2) |
has a unique solution defined by
x(t)=−12ρ1−αΓ(α)∫Taτρ−1(Tρ−τρ)α−1w(τ)dτ+ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1w(τ)dτ. | (3.3) |
Lemma 3.2. Assume that g:J×R×R→R is continuous. A function x(t) solves the problem (1.5)–(1.6) if and only if it is a fixed-point of the operator Q:C(J,R)→C(J,R) defined by
Qx(t)=−12ρ1−αΓ(α)∫Taτρ−1(Tρ−τρ)α−1g(τ,x(τ),cDα;ρa+x(τ))dτ+ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1g(τ,x(τ),cDα;ρa+x(τ))dτ. | (3.4) |
Our first result is based on Banach's fixed point theorem to obtain the existence of a unique solution of problem (1.5)–(1.6).
Theorem 3.3. Assume that g:J×R×R→R be a continuous satisfies the following condition:
(H1) There exists a constant 0<L<1 such that:
|g(t,x1,x2)−g(t,y1,y2)|≤L[|x1−y1|+|x2−y2|],∀t∈J,xi,yi∈R,(i=1,2). |
If
N=32Lρ−α1−L(Tρ−aρ)αΓ(α+1)<1, | (3.5) |
then the problem (1.5)–(1.6) has a unique solution on J.
Proof. Now, we first show that the operator Q:C(J,R)→C(J,R) defined by (3.4) is well-defined, i.e., we show that QSr⊆Sr where
Sr={x∈C(J,R),‖x‖≤r}, | (3.6) |
with choose r≥M1−N, where N<1 and
M=32μρ−α1−L(Tρ−aρ)αΓ(α+1). |
and supt∈J|g(t,0,0)|:=μ<∞. Set Gx(t):=g(t,x(t),cDα;ρa+x(t)). For any x∈Sr, we obtain by our hypotheses that
|Qx(t)|≤supt∈J|Qx(t)|≤supt∈J{12ρ1−αΓ(α)∫Taτρ−1(Tρ−τρ)α−1|Gx(τ)|dτ+ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1|Gx(τ)|dτ}. |
From (H1), we have
|Gx(τ)|=|g(τ,x(τ),cDα;ρa+x(τ))|≤|g(τ,x(τ),cDα;ρa+x(τ))−g(τ,0,0)|+|g(τ,0,0)|≤L|x(τ)|+L|cDα;ρa+x(τ)|+μ=Lr+L|Gx(τ)|+μ |
which gives
|Gx(τ)|≤(Lr+μ)1−L. | (3.7) |
Therefore,
|Qx(t)|≤supt∈J{12(Lr+μ)1−Lρ1−αΓ(α)∫Taτρ−1(Tρ−τρ)α−1dτ+(Lr+μ)1−Lρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1|Gx(τ)|dτ}≤32(Lr+μ)ρ−α1−L(Tρ−aρ)αΓ(α+1)=32L ρ−α1−L(Tρ−aρ)αΓ(α+1)r+32μρ−α1−L(Tρ−aρ)αΓ(α+1)=Nr+M<r, |
‖Qx‖<r, |
which implies that Qx∈Sr. Moreover, by (3.4), and lammas 2.5, 2.6, we obtain
CDα;ρa+Qx(t)= CDα;ρa+ Iα;ρa+Gx(t)=Gx(t). |
Since Gx(⋅) is continuous on J, the operator cDα;ρa+Qx(t) is continuous on J, that is Q Sr⊆Sr.
Next, we apply the Banach fixed point theorem to prove that Q has a fixed point. Indeed, it enough to show that Q is contraction map. Let x1,x2∈C(J,R) and for t∈J. Then, we have
|Qx1(t)−Qx2(t)|≤12ρ1−αΓ(α)∫Taτρ−1(Tρ−τρ)α−1|Gx1(τ)−Gx2(τ)|dτ+ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1|Gx1(τ)−Gx2(τ)|dτ |
by (H1), we get
|Gx1(τ)−Gx2(τ)|=|g(τ,x1(τ),cDα;ρa+x1(τ))−g(τ,x1(τ),cDα;ρa+x2(τ))|≤L|x1−x2|+L|cDα;ρa+x1(τ)− cDα;ρa+x2(τ)|=L|x1−x2|+L|Gx1(τ)−Gx2(τ)|, |
which implies
|Gx1(τ)−Gx2(τ)|≤L1−L|x1−x2|. | (3.8) |
Then
‖Qx1−Qx2‖≤32L1−Lρ−αΓ(α+1)(Tρ−aρ)α‖x1−x2‖. |
Consequently, ‖Qx1−Qx2‖≤N‖x1−x2‖. Since N<1, the operator Q is contraction mapping. As a consequence of theorem 2.10, then the problem (1.5)–(1.6) has a unique solution. This complete the proof.
Our second existence result for the problem (1.5)–(1.6) is based on the Krasnoselskii′s fixed point theorem.
Theorem 3.4. Assume that (H1) holds. If
Λ:=32L1−Lρ−αΓ(α+1)(Tρ−aρ)α<12, |
then the problem (1.5)–(1.6) has at least one solution on J.
Proof. Consider the operator Q:C(J,R)⟶C(J,R) defined by (3.4). Define the ball Sr0:={x∈C(J,R):‖x‖≤r0}, with r0≥2μΛ, where μ is defined as in Theorem 3.3. Furthere, we define the operators Q1 and Q2 on Sr0 by
Q1x(t)=−12ρ1−αΓ(α)∫Taτρ−1(Tρ−τρ)α−1Gx(τ)dτ, |
and
Q2x(t)=ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1Gx(τ)dτ. |
Taking into account that Q1 and Q2 are defined on Sr0, and for any x∈ C(J,R),
Qx(t)=Q1x(t)+Q2x(t),t∈J. |
The proof will be divided into several claims:
Claim 1: Q1x1+Q2x2 ∈Sr0 for every x1,x2∈Sr0.
For x1∈Sr0 and using the same arguments in (3.7), we get
|Gx1(τ)|≤(Lr0+μ)1−L. |
Similarly, for x2∈Sr0, we obain
|Gx2(τ)|≤(Lr0+μ)1−L. |
Now, for x1,x2∈Sr0 and t∈J, we have
|Q1x1(t)+Q2x2(t)|≤|Q1x1(t)|+|Q2x2(t)|≤12ρ1−αΓ(α)∫Taτρ−1(Tρ−τρ)α−1|Gx1(τ)|dτ+ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1|Gx2(τ)|dτ≤32ρ−αΓ(α+1)(Tρ−aρ)α(Lr0+μ)1−L≤(32L1−Lρ−αΓ(α+1)(Tρ−aρ)α)r0+32 μ1−Lρ−αΓ(α+1)(Tρ−aρ)α |
which gives
‖Q1x1+Q2x2‖≤r0. | (3.9) |
This proves that Q1x1+Q2x2 ∈ Sr0 for every x1,x2∈ Sr0.
Claim 2 Q1 is a contration mapping on Sr0.
Since Q is contraction mapping as in Theorem 3.3, then Q1 is a contraction map too.
Claim 3. The operator Q2 is completely continuous on Sr0.
First, from the continuity of Gx(⋅), we conclude that the operator Q2 is continuous.
Next, It is easy to verify that
‖Q2x‖≤(Lr0+μ)1−Lρ−αΓ(α+1)(Tρ−aρ)α<r0, |
due to definitions of Λ and r0. This proves that Q2 is uniformly bounded on Sr0
Finally, we prove that Q2 maps bounded sets into equicontinuous sets of C(J,R), i.e., (QSr0) is equicontinuous. We estimate the derivative of Q2x(t)
|(Q2x)′(t)|=|ρ1−αΓ(α−1)∫taτρ−1(tρ−τρ)α−2Gx(τ)dτ|≤ρ1−αΓ(α−1)∫taτρ−1(tρ−τρ)α−2|Gx(τ)|dτ≤(Lr0+μ)1−Lρ−αΓ(α)(Tρ−aρ)α−1:=K |
Now, Let t1,t2∈J, with t1<t2 and for any x ∈Sr0. Then we have
|Q2x(t1)−Q2x(t2)|=∫t2t1|(Q2x)′(τ)|dτ≤K(t2−t1). |
As t1⟶t2 the right-hand side of the above inequality is not dependent on x and tends to zero. Consequently,
|Q2x(t1)−Q2x(t2)|→0∀ |t2−t1|→0, x∈Sr0. |
This proves that Q2 is equicontinuous on Sr0. According to Arzela-Ascoli Theorem, it follows that Q2 is relatively compact on Sr0. Hence all the hypotheses of Theorem 2.11 are satisfied. Therefore, we conclude that the problem (1.5)–(1.6) has at least one solution on J.
In this section, we discuss the Ulam-Hyers and generalized Ulam-Hyers stability of Caputo-Katugampola-type for the problem (1.5)–(1.6). The following observations are taken from [33,37].
Definition 4.1. The problem (1.5)–(1.6) is Ulam-Hyers stable, if there exists a real number Kf>0, such that for each ε>0 and for each solution ˜x ∈C(J,R) of the inequality
|cDα;ρa+˜x(t)−g(t,˜x(t),cDα;ρa+˜x(t))|≤ε,t∈J, | (4.1) |
there exists a solution x∈C(J,R) for the problem (1.5)–(1.6) such that
|˜x(t)−x(t)|≤Kfε,t∈J. |
Definition 4.2. The problem (1.5)–(1.6) is generalized Ulam-Hyers stable if there exists Ψ∈C([0,∞),[0,∞)) with Ψ(0)=0, such that for each solution ˜x ∈C(J,R) of the inequality
|cDα;ρa+ ˜x(t)−g(t,˜x(t),cDα;ρa+˜x(t))|≤ε,t∈J, | (4.2) |
there exists a solution x∈C(J,R) for the problem (1.5)–(1.6) such that
|˜x(t)−x(t)|≤Ψ(ε), t∈J. |
Remark 4.3. Let α,ρ>0. A function ˜x ∈C(J,R) is a solution of the inequality (4.1) if and only if there exist a function h˜x∈C(J,R) such that
1. |h˜x(t)|≤εforallt∈J,
2. Dα;ρa+ ˜x(t)=g(t,˜x(t),cDα;ρa+˜x(t))+h˜x(t), t∈J.
Lemma 4.4. Let ˜x∈C(J,R) is a solution of the inequality (4.1). Then ˜x is a solution of the following integral inequality:
|˜x(t)−Z˜x−ρ1−αΓ(α)∫taτρ−1(tρ−aρ)α−1g(τ,˜x(τ),cDα;ρa+˜x(τ))dτ|≤32ερ−αΓ(α+1)(Tρ−aρ)α, |
where
Z˜x=12ρ1−αΓ(α)∫Taτρ−1(Tρ−aρ)α−1g(τ,˜x(τ),cDα;ρa+˜x(τ))dτ. | (4.3) |
Proof. In view of Remark 3.8, and Theorem 3.3, we obtain
˜x(t)=−12ρ1−αΓ(α)∫Taτρ−1(Tρ−aρ)α−1[g(τ,˜x(τ),cDα;ρa+˜x(τ))+h˜x(τ))]dτ+ρ1−αΓ(α)∫taτρ−1(tρ−aρ)α−1[g(τ,˜x(τ),cDα;ρa+˜x(τ))+h˜x(τ)]dτ. | (4.4) |
It follows that
|˜x(t)−Z˜x−ρ1−αΓ(α)∫taτρ−1(tρ−aρ)α−1g(τ,˜x(τ),cDα;ρa+˜x(τ))dτ|≤12ρ1−αΓ(α)∫Taτρ−1(Tρ−aρ)α−1|h˜x(t)|dτ+ρ1−αΓ(α)∫taτρ−1(tρ−aρ)α−1|h˜x(t)|dτ≤ε2ρ1−αΓ(α)∫Taτρ−1(Tρ−aρ)α−1dτ+ερ1−αΓ(α)∫taτρ−1(tρ−aρ)α−1dτ≤32ερ−αΓ(α+1)(Tρ−aρ)α. |
Theorem 4.5. Assume that the hypotheses of Theorem 3.3 are satisfied. Then the problem (1.5)–(1.6) is Ulam-Hyers stable.
Proof. Let ε>0, and ˜x ∈C(J,R) be a function which satisfies the inequality (4.1), and let x∈C(J,R) be the unique solution of the following Caputo-Katugampola fractional differential equation
cDα;ρa+x(t)=g(t,x(t),cDα;ρa+x(t)),t∈J, | (4.5) |
with
x(a)=˜x(a),x(T)=˜x(T), | (4.6) |
where 0<α<1. Using Lemma 3.1, It is easily seen that x(⋅) satisfies the integral equation
x(t)=Zx+ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1g(τ,x(τ),cDα;ρa+x(τ))dτ, |
where
Zx=−12ρ1−αΓ(α)∫Taτρ−1(Tρ−τρ)α−1g(τ,x(τ),cDα;ρa+x(τ))dτ. |
Applying Lemma 4.4, we obtain
|˜x(t)−Z˜x−ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1g(τ,x(τ),cDα;ρa+x(τ))dτ|≤Vε, | (4.7) |
where
V:=32ρ−αΓ(α+1)(Tρ−aρ)α. |
From (4.6) we can easily get that |Z˜x−Zx|→0. Indeed, from (H1) and (4.6), we obtain that
|Z˜x−Zx|=|12ρ1−αΓ(α)∫Taτρ−1(Tρ−τρ)α−1g(τ,˜x(τ),cDα;ρa+˜x(τ))dτ−12ρ1−αΓ(α)∫Taτρ−1(Tρ−τρ)α−1g(τ,x(τ),cDα;ρa+x(τ))dτ|≤12Iα;ρa+|g(T,˜x(T),cDα;ρa+˜x(T))−g(T,x(T),cDα;ρa+x(T))|. |
Since,
|g(T,˜x(T),cDα;ρa+˜x(T))−g(T,x(T),cDα;ρa+x(T))|≤L|˜x(T)−x(T)|+L|cDα;ρa+˜x(T)−cDα;ρa+x(T)|≤L1−L|˜x(T)−x(T)| | (4.8) |
which implies
|Z˜x−Zx|≤L2(1−L)Iα;ρa+|˜x(T)−x(T)|→0. |
Hence,
x(t)=Z˜x+ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1g(τ,x(τ),cDα;ρa+x(τ))dτ. |
According to (4.7), (H1) and (4.8), we obtain
|˜x(t)−x(t)|≤|˜x(t)−Z˜x−ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1g(τ,˜x(τ),cDα;ρa+˜x(τ))dτ|+ρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1|g(τ,˜x(τ),cDα;ρa+˜x(τ))−g(τ,x(τ),cDα;ρa+x(τ))|dτ≤Vε+L1−Lρ1−αΓ(α)∫taτρ−1(tρ−τρ)α−1|˜x(τ)−x(τ)|dτ. |
Applying Lemma 2.8, and Remark 2.9, it follows that
|˜x(t)−x(t)|≤Vε+∫ta[∞∑k=1ρ1−kα(L1−Lρ1−α)kΓ(kα)τρ−1(tρ−τρ)kα−1Vε]dτ≤32ερ−αΓ(α+1)(Tρ−aρ)αEα(L1−L(tρ−aρρ)α)≤32ερ−αΓ(α+1)(Tρ−aρ)αEα(L1−L(Tρ−aρρ)α). |
For Kf=32ρ−αΓ(α+1)(Tρ−aρ)αEα(L1−L(Tρ−aρρ)α), we get
|˜x(t)−x(t)|≤Kfε. | (4.9) |
Therefore the problem (1.5)–(1.6) is Ulam-Hyers stable.
Corollary 4.6. Under assumptions of Theorem 4.5, Assume that Ψ:R+→R+ such that Ψ(0)=0. Then tne problem (3.1)–(3.2) is generalized Ulam-Hyers stable.
Proof. One can repeat the same processes in Theorem 4.5 with putting Kfε=Ψ(ε), and Ψ(0)=0, we conclude that
|˜x(t)−x(t)|≤Ψ(ε). |
Example 5.1. Consider the following problem of implicit fractional differential equations involving Caputo Katugampola type and anti-period condition:
CKD12;120+x(t)={[13e√t+1+2+|x(t)|+|D12;120+x(t)|8e2−t(1+|x(t)|+|D12;120+x(t)|)],t∈[0,1],x(0)+x(1)=0,. | (5.1) |
Set:
g(t,u,v)=[13e√t+1+2+u+v8e2−t(1+u+v)],t∈[0,1],u,v∈R+, |
with α=12 and ρ=12. Clearly, the function g∈C([0,1]). For each u,v,u∗,v∗∈R+ and t∈[0,1]
|g(t,u,v)−g(t,u∗,v∗)|=|2+u+v8e2−t(1+u+v)−2+u∗+v∗8e2−t(1+u∗+v∗)|≤18e2−t(|u−u∗|+|v−v∗|)≤18e(|u−u∗|+|v−v∗|). |
Hence, the condition (H1) is satisfied with L=18e. It is easy to verify that N=34(1−18e)e√2π<1. Since all the assumptions of Theorem 3.3 are fulfilled, therefore problem (5.1) has a unique solution.
Example 5.2. Consider the following problem of implicit fractional differential equations involving Caputo Katugampola type and anti-period condition:
{CKD13;320+x(t)=|x(t)|+cos|CKD32;10+x(t)|30(t+2)(1+|x(t)|), t∈[0,1]x(0)=−x(1), | (5.2) |
Set:
g(t,u,v)=u+cosv30(t+2)(1+u),t∈[0,1],u,v∈R+, |
with α=13,ρ=32 and T=1. Now, for each u,v,u∗,v∗∈R+ and t∈[0,1]
|g(t,u,v)−g(t,u∗,v∗)|=|u+cosv30(t+2)(1+u)−u∗+cosv∗30(t+2)(1+u∗)|≤130(|u−u∗|+|v−v∗|). |
Hence, the condition (H1) is satisfied with L=130. It is easy to check that N≈0.05<1. It follows from Theorem 3.3 that problem (5.2) has a unique solution.
We see that all the required conditions of Theorem 4.5 are satisfied. Hence, the proposed problem (5.1) is Ulam-Hyers, generalized Ulam-Hyers stable.
According to Theorem 4.5, for ε>0, any solution ˜x ∈C([0,1],R) satisfies the inequality
|CKD12;120+˜x(t)−[13e√t+1+2+|˜x(t)|+|D12;120+˜x(t)|8e2−t(1+|˜x(t)|+|D12;120+˜x(t)|)]|≤ε,t∈[0,1], |
there exists a solution x∈C([0,1],R) for the problem (5.1) such that
|˜x(t)−x(t)|≤Kfε,t∈[0,1], |
where Kf=√6πE12(√28e−1). Moreover, if we set Kfε=Ψ(ε), and Ψ(0)=0, then
|˜x(t)−x(t)|≤Ψ(ε),t∈[0,1]. |
In this paper we studied a class of a nonlinear implicit fractional differential equation with the anti-periodic boundary condition involving the Caputo-Katugampola fractional derivative. The existence and uniqueness and Ulam-Hyers stability results are established by applying some fixed point theorems and generalized Gronwall inequality. In future work, it is worth investigating the existence and Ulam-Hyers-Rassias stability of solutions for the proposed problem (1.5)–(1.6) involving generalized fractional derivative with respect to another function.
As a result of our work, We trust the reported results here will have a positive impact on the development of further applications in engineering and applied sciences.
The authors declare that they have no competing interests.
[1] |
M. Hamid, M. Usman, Z. H. Khan, et al. Dual solutions and stability analysis of flow and heat transfer of Casson fluid over a stretching sheet, Phys. Lett. A, 383 (2019), 2400-2408. doi: 10.1016/j.physleta.2019.04.050
![]() |
[2] |
M. Hamid, M. Usman, Z. H. Khan, et al. Numerical study of unsteady MHD flow of Williamson nanofluid in a permeable channel with heat source/sink and thermal radiation, Europ. Phys. J. Plus, 133 (2018), 527. doi: 10.1140/epjp/i2018-12322-5
![]() |
[3] |
M. Hamid, M. Usman, T. Zubair, et al. Shape effects of MoS2 nanoparticles on rotating flow of nanofluid along a stretching surface with variable thermal conductivity: A Galerkin approach, Int. J. Heat Mass Transfer, 124 (2018), 706-714. doi: 10.1016/j.ijheatmasstransfer.2018.03.108
![]() |
[4] |
S. T. Mohyud-Din, M. Usman, K. Afaq, et al. Examination of carbon-water nanofluid flow with thermal radiation under the effect of Marangoni convection, Eng. Comput., 34 (2017), 2330-2343. doi: 10.1108/EC-04-2017-0135
![]() |
[5] | M. Usman, M. M. Din, T. Zubair, et al. Fluid flow and heat transfer investigation of blood with nanoparticles through porous vessels in the presence of magnetic field, J. Algorithms Comput. Technol., 13 (2018), 1748301818788661. |
[6] |
M. Usman, M. Hamid, R. U. Haq, et al. Heat and fluid flow of water and ethylene-glycol based Cu-nanoparticles between two parallel squeezing porous disks: LSGM approach, Int. J. Heat Mass Transfer, 123 (2018), 888-895. doi: 10.1016/j.ijheatmasstransfer.2018.03.030
![]() |
[7] | A. A. A. Kilbas, H. M. Srivastava, J. J. Trujillo, Theory and applications of fractional differential equations, Elsevier Science Limited, 204, 2006. |
[8] | A. B. Malinowska, T. Odzijewicz, D. F. M. Torres, Advanced Methods in the Fractional Calculus of Variations, Springer, Berlin, 2015. |
[9] | I. Podlubny, Fractional Differential Equations, Academic Press, San Diego, 1999. |
[10] |
R. P. Agarwal, Y. Zhou, Y. He, Existence of fractional neutral functional differential equations, Comput. Math. Appl., 59 (2010), 1095-1100. doi: 10.1016/j.camwa.2009.05.010
![]() |
[11] | D. Baleanu, K. Diethelm, E. Scalas, et al. Fractional Calculus Models and Numerical Methods, Series on Complexity, Nonlinearity and Chaos, World Scientific, 3, 2012. |
[12] | D. Baleanu, O. G. Mustafa, R. P. Agarwal, On Lp -solutions for a class of sequential fractional differential equations, Appl. Math. Comput., 218 (2011), 2074-2081. |
[13] | U. N. Katugampola, New approach to a generalized fractional integral. Appl. Math. Comput., 218 (2011), 860-865. |
[14] |
A. G. Butkovskii, S. S. Postnov, E. A. Postnova, Fractional integro-differential calculus and its control-theoretical applications i-mathematical fundamentals and the problem of interpretation, Autom. Remote Control, 74 (2013), 543-574. doi: 10.1134/S0005117913040012
![]() |
[15] | S. Gaboury, R. Tremblay, B. J. Fugere, Some relations involving a generalized fractional derivative operator, J. Inequalities Appl., 167, 2013. |
[16] | R. Herrmann, Fractional Calculus: An Introduction for Physicists, World Scienti c, River Edge, New Jerzey, 2 Eds., 2014. |
[17] |
G. Jumarie, On the solution of the stochastic differential equation of exponential growth driven by fractional brownian motion, Appl. Math. Lett., 18 (2005), 817-826. doi: 10.1016/j.aml.2004.09.012
![]() |
[18] | U. N. Katugampola, A new approach to generalized fractional derivatives, Bull. Math. Anal. Appl., 6 (2014), 1-15. |
[19] | U. N. Katugampola, Mellin transforms of the generalized fractional integrals and derivatives, Appl. Math. Comput., 257 (2015), 566-580. |
[20] | U. N. Katugampola, Existence and uniqueness results for a class of generalized fractional differential equations, Preprint, arXiv:1411.5229, 2014. |
[21] | R. Almeida, A Gronwall inequality for a general Caputo fractional operator, arXiv preprint arXiv:1705.10079, 2017. |
[22] |
D. S. Oliveira, E. Capelas de Oliveira, Hilfer-Katugampola fractional derivatives, Comput. Appl. Math., 37 (2018), 3672-3690. doi: 10.1007/s40314-017-0536-8
![]() |
[23] | S. Abbas, M. Benchohra, J. R. Graef, et al. Implicit Fractional Differential and Integral Equations: Existence and Stability, Walter de Gruyter: London, UK, 2018. |
[24] |
M. Benchohra, S. Bouriah, M. A. Darwish, Nonlinear boundary value problem for implicit differential equations of fractional order in Banach spaces, Fixed Point Theory, 18 (2017), 457-470. doi: 10.24193/fpt-ro.2017.2.36
![]() |
[25] | M. Benchohra, S. Bouriah, J. R. Graef, Nonlinear implicit differential equations of fractional order at resonance, Electron. J. Differential Equations, 324 (2016), 1-10. |
[26] | M. Benchohra, J. E. Lazreg, Nonlinear fractional implicit differential equations, Commun. Appl. Anal., 17 (2013), 471-482. |
[27] | E. Alvarez, C. Lizama, R. Ponce, Weighted pseudo anti-periodic solutions for fractional integrodifferential equations in Banach spaces, Appl. Math. Comput., 259 (2015), 164-172. |
[28] | F. Chen, A. Chen, X. Wu, Anti-periodic boundary value problems with Riesz-Caputo derivative, Advances Difference Equations, 1 (2019), 119. |
[29] | D. Yang, C. Bai, Existence of solutions for Anti-Periodic fractional differential inclusions involving Riesz-Caputo fractional derivative, Mathematics, 7 (2019), 630. |
[30] |
B. Ahmad, J. J. Nieto, Anti-periodic fractional boundary value problems, Comput. Math. Appl., 62 (2011), 1150-1156. doi: 10.1016/j.camwa.2011.02.034
![]() |
[31] |
M. Benchohra, J. E. Lazreg, Existence and Ulam stability for nonlinear implicit fractional differential equations with Hadamard derivative, Studia Universitatis Babes-Bolyai, Mathematica, 62 (2017), 27-38. doi: 10.24193/subbmath.2017.0003
![]() |
[32] | L. Palve, M. S. Abdo, S. K. Panchal, Some existence and stability results of HilferHadamard fractional implicit differential fractional equation in a weighted space, preprint: arXiv:1910.08369v1 math. GM, (2019), 20. |
[33] | I. A. Rus, Ulam stabilities of ordinary differential equations in a Banach space, Carpath. J. Math., 26 (2010), 103-107. |
[34] | J. Wang, Y. Zhou, M. Medved, Existence and stability of fractional differential equations with Hadamard derivative, Topol. Methods Nonlinear Anal., 41 (2013), 113-133. |
[35] |
T. A. Burton, C. KirkÙ, A fixed point theorem of Krasnoselskii Schaefer type, Mathematische Nachrichten, 189 (1998), 23-31. doi: 10.1002/mana.19981890103
![]() |
[36] | J. V. C. Sousa, E. C. Oliveira, A Gronwall inequality and the Cauchy-type problem by means of ψ-Hilfer operator, arXiv preprint arXiv:1709.03634, 2017. |
[37] |
M. Benchohra, S. Bouriah, Existence and stability results for nonlinear boundary value problem for implicit differential equations of fractional order, Moroccan J. Pure Appl. Anal., 1 (2015), 22-37. doi: 10.7603/s40956-015-0002-9
![]() |
[38] | A. Boutiara, K. Guerbati, M. Benbachir, Caputo-Hadamard fractional differential equation with three-point boundary conditions in Banach spaces, AIMS Math., 5 (2019), 259-272. |
[39] | S. S. Redhwan, S. L. Shaikh, M. S. Abdo, Theory of Nonlinear Caputo-Katugampola Fractional Differential Equations, arXiv preprint arXiv:1911.08884, 2019. |
1. | Basim N. Abood, Saleh S. Redhwan, Omar Bazighifan, Kamsing Nonlaopon, Investigating a Generalized Fractional Quadratic Integral Equation, 2022, 6, 2504-3110, 251, 10.3390/fractalfract6050251 | |
2. | Saleh REDHWAN, Sadikali SHAİKH, Mohammed ABDO, Caputo-Katugampola-type implicit fractional differential equation with anti-periodic boundary conditions, 2022, 5, 2636-7556, 12, 10.53006/rna.974148 | |
3. | Hua Wang, Tahir Ullah Khan, Muhammad Adil Khan, Sajid Iqbal, New generalized conformable fractional impulsive delay differential equations with some illustrative examples, 2021, 6, 2473-6988, 8149, 10.3934/math.2021472 | |
4. | Mohammed D. Kassim, Thabet Abdeljawad, Saeed M. Ali, Mohammed S. Abdo, Stability of solutions for generalized fractional differential problems by applying significant inequality estimates, 2021, 2021, 1687-1847, 10.1186/s13662-021-03533-3 | |
5. | Nemat Nyamoradi, Bashir Ahmad, Generalized Fractional Differential Systems with Stieltjes Boundary Conditions, 2023, 22, 1575-5460, 10.1007/s12346-022-00703-w | |
6. | Ahmed Nouara, Abdelkader Amara, Eva Kaslik, Sina Etemad, Shahram Rezapour, Francisco Martinez, Mohammed K. A. Kaabar, A study on multiterm hybrid multi-order fractional boundary value problem coupled with its stability analysis of Ulam–Hyers type, 2021, 2021, 1687-1847, 10.1186/s13662-021-03502-w | |
7. | Gauhar Ali, Kamal Shah, Ghaus ur Rahman, Investigating a Class of Pantograph Differential Equations Under Multi-points Boundary Conditions with Fractional Order, 2021, 7, 2349-5103, 10.1007/s40819-020-00932-0 | |
8. | Fidel Meléndez-Vázquez, Guillermo Fernández-Anaya, Aldo Jonathan Muñóz-Vázquez, Eduardo Gamaliel Hernández-Martínez, Generalized conformable operators: Application to the design of nonlinear observers, 2021, 6, 2473-6988, 12952, 10.3934/math.2021749 | |
9. | Mohammed D. Kassim, Thabet Abdeljawad, Wasfi Shatanawi, Saeed M. Ali, Mohammed S. Abdo, A qualitative study on generalized Caputo fractional integro-differential equations, 2021, 2021, 1687-1847, 10.1186/s13662-021-03530-6 | |
10. | Majid K. Neamah, Alawiah Ibrahim, Generalized proportional fractional integral inequalities for convex functions, 2021, 6, 2473-6988, 10765, 10.3934/math.2021625 | |
11. | Khalil S. Al-Ghafri, Awad T. Alabdala, Saleh S. Redhwan, Omar Bazighifan, Ali Hasan Ali, Loredana Florentina Iambor, Symmetrical Solutions for Non-Local Fractional Integro-Differential Equations via Caputo–Katugampola Derivatives, 2023, 15, 2073-8994, 662, 10.3390/sym15030662 | |
12. | Saleh REDHWAN, Suad AL-MAYYAHİ, Sadikali SHAİKH, Mohammed ABDO, A coupled non-separated system of Hadamard-type fractional differential equations, 2022, 6, 2587-2648, 33, 10.31197/atnaa.925365 | |
13. | Ruixiong Fan, Nan Yan, Chen Yang, Chengbo Zhai, Qualitative Behaviour of a Caputo Fractional Differential System, 2023, 22, 1575-5460, 10.1007/s12346-023-00836-6 | |
14. | Zainab Alsheekhhussain, Ahmed Gamal Ibrahim, M. Mossa Al-Sawalha, Osama Yusuf Ababneh, Antiperiodic Solutions for Impulsive ω-Weighted ϱ–Hilfer Fractional Differential Inclusions in Banach Spaces, 2024, 8, 2504-3110, 376, 10.3390/fractalfract8070376 |