Research article

Implicit fractional differential equation with anti-periodic boundary condition involving Caputo-Katugampola type

  • Received: 30 December 2019 Accepted: 25 March 2020 Published: 20 April 2020
  • MSC : 34B15, 34B18, 26A33, 34A12

  • This paper deals with a nonlinear implicit fractional differential equation with the anti-periodic boundary condition involving the Caputo-Katugampola type. The existence and uniqueness results are established by applying the fixed point theorems of Krasnoselskii and Banach. Further, by using generalized Gronwall inequality the Ulam-Hyers stability results are proved. To demonstrate the effectiveness of the main results, appropriate examples are granted.

    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

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  • This paper deals with a nonlinear implicit fractional differential equation with the anti-periodic boundary condition involving the Caputo-Katugampola type. The existence and uniqueness results are established by applying the fixed point theorems of Krasnoselskii and Banach. Further, by using generalized Gronwall inequality the Ulam-Hyers stability results are proved. To demonstrate the effectiveness of the main results, appropriate examples are granted.


    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,...,m1, 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)),tJ=[a,b], (1.3)
    ρI1γa+x(a)=c,γ=α+βαβ. (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)), tJ=[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×RR 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 (ρ1, a0)[37], Caputo-Hadamard (ρ0) [38], Liouville (ρ1, a0) [7], and Weyl (ρ1, 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

    zC=suptJ|z(t)|:tJ},

    for zC(J,R). Cn(J,R) (nN0) denotes the set of mappings having n times continuously differentiable on J.

    For a<T, cR and 1p<, define the function space

    Xpc(a,T)={z:JR:zXpc=(Ta|tcz(t)|pdtt)1p<}.

    for p=,

    zXpc=esssupatT[|tcz(t)|].

    Definition 2.1. [13] Let t>a be two reals, α>0, ρ>0, cR and zXpc(a,T). The left-sided Katugampola fractional integral of order α with dependence on a parameter ρ is defined by

    Iα;ρa+z(t)=ρ1αΓ(α)taτρ1(tρτρ)α1z(τ)dτ, (2.1)

    where, Γ(.) is a gamma function.

    Definition 2.2. [18] Let n1<α<n, (n=[α]+1), ρ>0, cR and zXpc(a,T). The left-sided Katugampola fractional derivative of order α with dependence on a parameter ρ is defined as

    Dα;ρa+z(t)=(t1ρddt)nInα;ρa+z(t)=γn ραn+1Γ(nα)taτρ1(tρτρ)nα1z(τ)dτt>a, (2.2)

    where γ=(t1ρddt). In particular, if 0<α<1, ρ>0, and zC1(J,R), we have

    Dα;ρa+z(t)=(t1ρddt)I1α;ρa+z(t)=γραΓ(1α)taτρ1(tρτρ)αz(τ)dτt>a.

    Definition 2.3. [18] Let α0, n=[α]+1. If zCn(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)n1k=0z(k)ρ(a)k!ρk(tρaρ)k], (2.3)

    where z(k)ρ(t)=(t1ρddt)kz(t). In case 0<α<1, and zC1(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(1α)taτρ1(tρτρ)α[z(τ)z(a)]dτt>a, γ=(t1ρddt) 

    Obviously, if αN0, and zC1(J,R), then the Caputo-Katugampola fractional derivative exists a.e, moreover, we have

    CDα;ρa+z(t)=ραΓ(1α)taτρ1(tρτρ)αz(1)ρ(τ)dτt>a,=I1α;ρa+z(1)ρ(t).

    Also, if αN, 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) (1p), ρ,cR, ρc. 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+(tρaρ)δ1=ραΓ(δ)Γ(δ+α)(tρaρ)α+δ1,
    CDα;ρa+(tρaρ)δ1=ρ+αΓ(δ)Γ(δα)(tρaρ)δα1,

    and

    CDα;ρa+(tρaρ)k=0,α0,k=0,1,,n1.

    Particularly, CDα;ρa+(1)=0.

    Lemma 2.7. [39] Let α,ρ>0 and xC(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(tρaρρ)+c2(tρaρρ)2+....+cn1(tρaρρ)n1,

    where ciR, i=0,1,2,...,n1 and n=[α]+1.

    2. If x,CDα;ρa+xC(J,R)C1(J,R). Then

    Iα;ρa+CDα;ρa+x(t)=x(t)+c0+c1(tρaρρ)+c2(tρaρρ)2+....+cn1(tρaρρ)n1, (2.5)

    where ciR, i=0,1,2,...,n1 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)ρ1αtaτρ1(tρτρ)α1v(τ)dτ,t[a,T],

    then

    v(t)w(t)+ta[k=1ρ1kα(z(t)Γ(α))kΓ(kα)τρ1(tρτρ)kα1w(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)(tρaρρ)α], t[a,T].

    where Eα() is the Mittag-Leffler function defined by

    Eα(x)=k=0xkΓ(αk+1),xC, Re(α)>0.

    Theorem 2.10. [35] (Banach fixed point theorem) Let (X,d) be a nonempty complete metric space with Q:XX 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,yΩ. If Q1 is contraction and Q2 is completely continuous, then there exists zΩ 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 wC(J,R). Then the linear anti-periodic boundary value problem

    cDα;ρa+x(t)=w(t),tJ, (3.1)
    x(a)+x(T)=0, (3.2)

    has a unique solution defined by

    x(t)=12ρ1αΓ(α)Taτρ1(Tρτρ)α1w(τ)dτ+ρ1αΓ(α)taτρ1(tρτρ)α1w(τ)dτ. (3.3)

    Lemma 3.2. Assume that g:J×R×RR 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)=12ρ1αΓ(α)Taτρ1(Tρτρ)α1g(τ,x(τ),cDα;ρa+x(τ))dτ+ρ1αΓ(α)taτρ1(tρτρ)α1g(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×RR 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[|x1y1|+|x2y2|],tJ,xi,yiR,(i=1,2).

    If

    N=32Lρα1L(Tρaρ)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 QSrSr where

    Sr={xC(J,R),xr}, (3.6)

    with choose rM1N, where N<1  and

     M=32μρα1L(Tρaρ)αΓ(α+1).

    and suptJ|g(t,0,0)|:=μ<. Set Gx(t):=g(t,x(t),cDα;ρa+x(t)). For any xSr, we obtain by our hypotheses that

    |Qx(t)|suptJ|Qx(t)|suptJ{12ρ1αΓ(α)Taτρ1(Tρτρ)α1|Gx(τ)|dτ+ρ1αΓ(α)taτρ1(tρτρ)α1|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)1L. (3.7)

    Therefore,

    |Qx(t)|suptJ{12(Lr+μ)1Lρ1αΓ(α)Taτρ1(Tρτρ)α1dτ+(Lr+μ)1Lρ1αΓ(α)taτρ1(tρτρ)α1|Gx(τ)|dτ}32(Lr+μ)ρα1L(Tρaρ)αΓ(α+1)=32L ρα1L(Tρaρ)αΓ(α+1)r+32μρα1L(Tρaρ)αΓ(α+1)=Nr+M<r,
    Qx<r,

    which implies that QxSr. 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 SrSr.

    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,x2C(J,R) and for tJ. Then, we have

    |Qx1(t)Qx2(t)|12ρ1αΓ(α)Taτρ1(Tρτρ)α1|Gx1(τ)Gx2(τ)|dτ+ρ1αΓ(α)taτρ1(tρτρ)α1|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|x1x2|+L|cDα;ρa+x1(τ) cDα;ρa+x2(τ)|=L|x1x2|+L|Gx1(τ)Gx2(τ)|,

    which implies

    |Gx1(τ)Gx2(τ)|L1L|x1x2|. (3.8)

    Then

    Qx1Qx232L1LραΓ(α+1)(Tρaρ)αx1x2.

    Consequently, Qx1Qx2Nx1x2. 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 Krasnoselskiis fixed point theorem.

    Theorem 3.4. Assume that (H1) holds. If

    Λ:=32L1LραΓ(α+1)(Tρaρ)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:={xC(J,R):xr0}, with r02μΛ, where μ is defined as in Theorem 3.3. Furthere, we define the operators Q1 and Q2 on Sr0 by

    Q1x(t)=12ρ1αΓ(α)Taτρ1(Tρτρ)α1Gx(τ)dτ,

    and

    Q2x(t)=ρ1αΓ(α)taτρ1(tρτρ)α1Gx(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),tJ.

    The proof will be divided into several claims:

    Claim 1: Q1x1+Q2x2 Sr0 for every x1,x2Sr0.

    For x1Sr0 and using the same arguments in (3.7), we get

    |Gx1(τ)|(Lr0+μ)1L.

    Similarly, for x2Sr0, we obain

    |Gx2(τ)|(Lr0+μ)1L.

    Now, for x1,x2Sr0 and tJ, we have

    |Q1x1(t)+Q2x2(t)||Q1x1(t)|+|Q2x2(t)|12ρ1αΓ(α)Taτρ1(Tρτρ)α1|Gx1(τ)|dτ+ρ1αΓ(α)taτρ1(tρτρ)α1|Gx2(τ)|dτ32ραΓ(α+1)(Tρaρ)α(Lr0+μ)1L(32L1LραΓ(α+1)(Tρaρ)α)r0+32 μ1LραΓ(α+1)(Tρaρ)α

    which gives

    Q1x1+Q2x2r0. (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)1LραΓ(α+1)(Tρaρ)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)|=|ρ1αΓ(α1)taτρ1(tρτρ)α2Gx(τ)dτ|ρ1αΓ(α1)taτρ1(tρτρ)α2|Gx(τ)|dτ(Lr0+μ)1LραΓ(α)(Tρaρ)α1:=K

    Now, Let t1,t2J, with t1<t2 and for any x Sr0. Then we have

    |Q2x(t1)Q2x(t2)|=t2t1|(Q2x)(τ)|dτK(t2t1).

    As t1t2 the right-hand side of the above inequality is not dependent on x and tends to zero. Consequently,

    |Q2x(t1)Q2x(t2)|0 |t2t1|0, xSr0.

    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,tJ, (4.1)

    there exists a solution xC(J,R) for the problem (1.5)–(1.6) such that

    |˜x(t)x(t)|Kfε,tJ.

    Definition 4.2. The problem (1.5)–(1.6) is generalized Ulam-Hyers stable if there exists ΨC([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,tJ, (4.2)

    there exists a solution xC(J,R) for the problem (1.5)–(1.6) such that

    |˜x(t)x(t)|Ψ(ε), tJ.

    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˜xC(J,R) such that

    1. |h˜x(t)|εforalltJ,

    2. Dα;ρa+ ˜x(t)=g(t,˜x(t),cDα;ρa+˜x(t))+h˜x(t), tJ.

    Lemma 4.4. Let ˜xC(J,R) is a solution of the inequality (4.1). Then ˜x is a solution of the following integral inequality:

    |˜x(t)Z˜xρ1αΓ(α)taτρ1(tρaρ)α1g(τ,˜x(τ),cDα;ρa+˜x(τ))dτ|32εραΓ(α+1)(Tρaρ)α,

    where

    Z˜x=12ρ1αΓ(α)Taτρ1(Tρaρ)α1g(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)=12ρ1αΓ(α)Taτρ1(Tρaρ)α1[g(τ,˜x(τ),cDα;ρa+˜x(τ))+h˜x(τ))]dτ+ρ1αΓ(α)taτρ1(tρaρ)α1[g(τ,˜x(τ),cDα;ρa+˜x(τ))+h˜x(τ)]dτ. (4.4)

    It follows that

    |˜x(t)Z˜xρ1αΓ(α)taτρ1(tρaρ)α1g(τ,˜x(τ),cDα;ρa+˜x(τ))dτ|12ρ1αΓ(α)Taτρ1(Tρaρ)α1|h˜x(t)|dτ+ρ1αΓ(α)taτρ1(tρaρ)α1|h˜x(t)|dτε2ρ1αΓ(α)Taτρ1(Tρaρ)α1dτ+ερ1αΓ(α)taτρ1(tρaρ)α1dτ32εραΓ(α+1)(Tρaρ)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 xC(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)),tJ, (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+ρ1αΓ(α)taτρ1(tρτρ)α1g(τ,x(τ),cDα;ρa+x(τ))dτ,

    where

    Zx=12ρ1αΓ(α)Taτρ1(Tρτρ)α1g(τ,x(τ),cDα;ρa+x(τ))dτ.

    Applying Lemma 4.4, we obtain

    |˜x(t)Z˜xρ1αΓ(α)taτρ1(tρτρ)α1g(τ,x(τ),cDα;ρa+x(τ))dτ|Vε, (4.7)

    where

    V:=32ραΓ(α+1)(Tρaρ)α.

    From (4.6) we can easily get that |Z˜xZx|0. Indeed, from (H1) and (4.6), we obtain that

    |Z˜xZx|=|12ρ1αΓ(α)Taτρ1(Tρτρ)α1g(τ,˜x(τ),cDα;ρa+˜x(τ))dτ12ρ1αΓ(α)Taτρ1(Tρτρ)α1g(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)|L1L|˜x(T)x(T)| (4.8)

    which implies

    |Z˜xZx|L2(1L)Iα;ρa+|˜x(T)x(T)|0.

    Hence,

    x(t)=Z˜x+ρ1αΓ(α)taτρ1(tρτρ)α1g(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˜xρ1αΓ(α)taτρ1(tρτρ)α1g(τ,˜x(τ),cDα;ρa+˜x(τ))dτ|+ρ1αΓ(α)taτρ1(tρτρ)α1|g(τ,˜x(τ),cDα;ρa+˜x(τ))g(τ,x(τ),cDα;ρa+x(τ))|dτVε+L1Lρ1αΓ(α)taτρ1(tρτρ)α1|˜x(τ)x(τ)|dτ.

    Applying Lemma 2.8, and Remark 2.9, it follows that

    |˜x(t)x(t)|Vε+ta[k=1ρ1kα(L1Lρ1α)kΓ(kα)τρ1(tρτρ)kα1Vε]dτ32εραΓ(α+1)(Tρaρ)αEα(L1L(tρaρρ)α)32εραΓ(α+1)(Tρaρ)αEα(L1L(Tρaρρ)α).

    For Kf=32ραΓ(α+1)(Tρaρ)αEα(L1L(Tρaρρ)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)={[13et+1+2+|x(t)|+|D12;120+x(t)|8e2t(1+|x(t)|+|D12;120+x(t)|)],t[0,1],x(0)+x(1)=0,. (5.1)

    Set:

    g(t,u,v)=[13et+1+2+u+v8e2t(1+u+v)],t[0,1],u,vR+,

    with α=12 and ρ=12. Clearly, the function gC([0,1]). For each u,v,u,vR+ and t[0,1]

    |g(t,u,v)g(t,u,v)|=|2+u+v8e2t(1+u+v)2+u+v8e2t(1+u+v)|18e2t(|uu|+|vv|)18e(|uu|+|vv|).

    Hence, the condition (H1) is satisfied with L=18e. It is easy to verify that N=34(118e)e2π<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,vR+,

    with α=13,ρ=32 and T=1. Now, for each u,v,u,vR+ and t[0,1]

    |g(t,u,v)g(t,u,v)|=|u+cosv30(t+2)(1+u)u+cosv30(t+2)(1+u)|130(|uu|+|vv|).

    Hence, the condition (H1) is satisfied with L=130. It is easy to check that N0.05<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)[13et+1+2+|˜x(t)|+|D12;120+˜x(t)|8e2t(1+|˜x(t)|+|D12;120+˜x(t)|)]|ε,t[0,1],

    there exists a solution xC([0,1],R) for the problem (5.1) such that

    |˜x(t)x(t)|Kfε,t[0,1],

    where Kf=6πE12(28e1). 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.



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