Research article

Existence, uniqueness and stability of solutions for generalized proportional fractional hybrid integro-differential equations with Dirichlet boundary conditions

  • Received: 01 July 2022 Revised: 30 September 2022 Accepted: 07 October 2022 Published: 18 October 2022
  • MSC : 26A33, 34A08, 34A12, 45J05

  • In this work, the existence of solutions for nonlinear hybrid fractional integro-differential equations involving generalized proportional fractional (GPF) derivative of Caputo-Liouville-type and multi-term of GPF integrals of Reimann-Liouville type with Dirichlet boundary conditions is investigated. The analysis is accomplished with the aid of the Dhage's fixed point theorem with three operators and the lower regularized incomplete gamma function. Further, the uniqueness of solutions and their Ulam-Hyers-Rassias stability to a special case of the suggested hybrid problem are discussed. For the sake of corroborating the obtained results, an illustrative example is presented.

    Citation: Zaid Laadjal, Fahd Jarad. Existence, uniqueness and stability of solutions for generalized proportional fractional hybrid integro-differential equations with Dirichlet boundary conditions[J]. AIMS Mathematics, 2023, 8(1): 1172-1194. doi: 10.3934/math.2023059

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  • In this work, the existence of solutions for nonlinear hybrid fractional integro-differential equations involving generalized proportional fractional (GPF) derivative of Caputo-Liouville-type and multi-term of GPF integrals of Reimann-Liouville type with Dirichlet boundary conditions is investigated. The analysis is accomplished with the aid of the Dhage's fixed point theorem with three operators and the lower regularized incomplete gamma function. Further, the uniqueness of solutions and their Ulam-Hyers-Rassias stability to a special case of the suggested hybrid problem are discussed. For the sake of corroborating the obtained results, an illustrative example is presented.



    Fractional calculus has received a lot of attention in the last decades [1]. This type of calculus has become an important area of research due to its intensive development and diverse applications with several complex problems of everyday life have been modeled by differential equations and integro-differential equations of fractional order [2,3,4,5]. Such applications can be found in variety of fields like economics, physics, chemistry, astronomy, thermal acoustic engineering, biology, probability theory, control theory, viscous fluid dynamics, signal processing, electromagnetism, robotics, anomalous diffusion, potential theory and electrical statistics, etc. We refer the reader to the papers [6,7,8] and the references cited therein for more details.

    Many authors have taken into consideration the numerical solutions of boundary value problems or initial value problems of ordinary/partial value problems (see [9,10] and the references mentioned). However, studying the qualitative properties of differential equations has still had priority.

    In mathematical analysis, boundary conditions are constraints on the solutions of ordinary or partial differential equations in a given domain. There is a large number of possible boundary conditions depending on the formulation of the number of variables involved and thus depending on the nature of the differential equation. Boundary value problems of differential equations of fractional order have been extensively studied. In many works, the authors presented some excellent results about the existence of solutions and utilized the fixed point theorems for this purpose; for example, see [11,12,13,14,15,16]. Concerning the fractional integro-differential equations, please refer to [17,18,19,20,21]. On the other hand, some researchers were interested in studying the stability of solutions to fractional differential equations. One of the most important types of stability that played a noticeable role in the development of fractional differential equations is the so-called Ulam-Hyers stability. Ulam-Hyers stability analysis was recognized as a simple method of investigation of the solutions of a differential equation. We refer the readers to [22,23,24,25,26,27] and the references contained therein.

    Some basic theory for the hybrid differential (or hybrid integro-differential) equations was discussed in some articles; for instance, in [28], Dhage and Lakshmikantham discussed the existence and the uniqueness of solutions for the following classical Cauchy problem of hybrid differential equations

    {ddt(u(t)f(t,u(t)))=g(t,u(t)), t[0,T],u(0)=u0 (1.1)

    where gC([0,T]×R,R) and fC([0,T]×R,R{0}).

    Herzallah and Baleanu [29] discussed the existence of solutions and some fundamental differential inequalities for the following Cauchy problems of hybrid differential equations involving Caputo-Liouville derivative.

    {CDβ0+(u(t)f(t,u(t)))=g(t,u(t)),u(0)=u0 (1.2)

    and

    {CDβ0+(u(t)h(t,u(t)))=g(t,u(t)),u(0)=u0, (1.3)

    where t[0,T], 0<β1, gC([0,T]×R,R) and f,hC([0,T]×R,R{0}).

    Bashir et al. [30] investigated the existence of solutions for a nonlocal boundary value problem of hybrid fractional integro-differential inclusions given by

    {CDβ0+(u(t)i=mi=1Iαi0+hi(t,u(t))f(t,u(t)))g(t,u(t)), t[0,1],u(0)=μ(u), u(1)=A, (1.4)

    where where CDβ0+ denotes the Caputo-Liouville fractional derivative of order β(1,2], Iαi0+ denotes the Reimann-Liouville fractional integral of order αi and hiC([0,T]×R,R), i=1,...,m.

    In [31], Dhage proved the existence and approximations of the solutions for the following initial value problems of nonlinear hybrid fractional integro-differential equations

    {cDβ0+(u(t)Iα0+h(t,u(t))f(t,u(t)))=g(t,u(t),t0k(s,u(s))ds), t[0,T],u(0)=u0, (1.5)

    where 0<β1, α>0 and h,k:[0,T]×RR, f :[0,T]×RR{0}, g:[0,T]×R×RR are given functions.

    Motivated by the above mentioned works, in this article, we handle the existence of solutions for the following hybrid proportional fractional integro-differential equations with Dirichlet boundary conditions

    {CpDβ,σ0+(u(t)i=mi=1Jαi,σ0+hi(t,u(t))f(t,u(t)))=g(t,u(t)), t[0,T],u(0)=u0,u(T)=uT, (1.6)

    where σ(0,1], 1<β2, αi>0,(i=1,...,m),mN, u0,uTR and  CpDβ,σ0+ represents the Caputo-Liouville proportional fractional derivative of order β and Jαi,σ0+ denotes the Reimann-Liouville proportional fractional integral of order αi, and hi:[0,T]×RR, f :[0,T]×RR{0},g:[0,T]×RR are given functions. We discuss existence of solutions by applying the Dhage's fixed point and benefiting from the incomplete Gamma function and its properties that were presented by Laadjal et al. [32]. On the top of this, we discuss the uniqueness of these solutions and their Ulam-Hyers-Rassias stability for the case f(t,u(t))=1 for all t[0,T] of the hybrid problem (1.6).

    We note that, we deduce the following main cases from problem (1.6).

    Case 1. If σ=1. The problem (1.6) reduces to a hybrid integro-differential equations involving the usual Caputo-Liouville fractional derivative with the usual Reimann-Liouville fractional integral.

    Case 2. If f(t,u(t))=1 and hi(t,u(t))=0, (i=1,...,m) for all (t,u(t))[0,T]×R, we get the following Caputo-Liouville proportional fractional boundary value problem

    {CpDβ,σ0+u(t)=g(t,u(t)),t[0,T],u(0)=u0,u(T)=uT, (1.7)

    Case 3. If σ=1,f(t,u(t))=1, and hi(t,u(t))=0, (i=1,...,m) for all (t,u(t))[0,T]×R, we get the following Caputo-Liouville fractional boundary value problem

    {CDβ0+u(t)=g(t,u(t)),t[0,T],u(0)=u0,u(T)=uT. (1.8)

    The paper is organized as follows: Next section presents some definitions and some properties needed in next sections. Section 3 proves the existence of solutions for the given problem. Section 4 investigates the uniqueness result of solutions for the given problem (with f(t,u(t))=1). Section 5 discusses the Ulam-Hyers-Rassias stability results. Lastly, section 6 provides an example to clarify the results obtained.

    In this section, we present some definitions and properties associated with the fractional calculus [33,34] and the incomplete gamma function [32] that are helpful for our discussion.

    Definition 4 ([33]). Let β0. The left fractional integral of Reimann-Liouville type of the function ΘL1([0,T],R) is defined by I0a+Θ(t)=Θ(t) and

    Iβa+Θ(t)=1Γ(β)ta(tρ)β1Θ(ρ)dρ, for β>0, (2.1)

    where t[a,b].

    Definition 5 ([33]). Let β0. The left fractional derivative of Caputo-Liouville type of the function ΘCn([0,T],R) is defined by CD0a+Θ(t)=Θ(t) and

    CDβa+Θ(t)=Inβa+(DnΘ)(t)=1Γ(nβ)ta(tρ)nβ1DnΘ(ρ)dρ for β>0, (2.2)

    where n1<βn, nN.

    Definition 6 ([34]). Let σ(0,1], and β0. The left generalized proportional fractional integral of Reimann-Liouville type of the function ΘL1([0,T],R) is defined by J0,σa+Θ(t)=Θ(t) and

    Jβ,σa+Θ(t)=1σβΓ(β)ta(tρ)β1eσ1σ(tρ)Θ(ρ)dρ, for β>0, (2.3)

    where t[a,b].

    Definition 7 ([34]). Let σ(0,1], and β0. The left generalized proportional fractional derivative of Caputo-Liouville type of the function ΘCn([0,T],R) is defined by CpD0,σa+Θ(t)=Θ(t) and

    CpDβ,σa+Θ(t)=Jnβ,σa+(Dn,σΘ)(t)=1σβΓ(nβ)ta(tρ)nβ1eσ1σ(tρ)(Dn,σΘ)(ρ)dρ for β>0, (2.4)

    where n1<βn, nN. and (D1,σΘ)(t)=(DσΘ)(t)=(1σ)Θ(t)+σΘ(t), and

    (Dn,σΘ)(t)={Θ(t),   for  n=0,(DσDσDσn timesΘ)(t),   for  n1. (2.5)

    Remark 8. Note that, for σ=1, Definitions 6 and 7 reduce to the usual definitions of Riemann-Liouville fractional integral and Caputo-Liouville fractional derivative, respetively.

    Proposition 9 ([34]). Let σ(0,1], α>0 and β>0 with n1<βn, and ΘL1([0,T],R), we have the following properties.

    Jβ,σa+(Jα,σa+Θ)(t)=Jα,σa+(Jβ,σa+Θ)(t)=Jβ+α,σa+Θ(t); (2.6)
    CpDβ,σa+(Jβ,σa+Θ)(t)=Θ(t); (2.7)
    Jβ,σa+(CpDβ,σa+Θ)(t)=Θ(t)n1k=0ck(ta)keσ1σ(ta),(here ΘCn([0,T],R)),  (2.8)

    where ck=(Dk,σΘ)(a)σkk!. In particular, when 1<β2 and a=0, we have

    Jβ,σ0+(CpDβ,σ0+Θ)(t)=Θ(t)c0eσ1σtc1teσ1σt. (2.9)

    Definition 10 ([32,35,36]). Let β ((β)>0).

    The upper incomplete gamma function is defined by

    Γ(β,t)=+txβ1exdx,  t0. (2.10)

    The lower incomplete gamma function is defined by

    γ(β,t)=t0xβ1exdx,  t0. (2.11)

    The upper regularized incomplete gamma function is defined by

    Q(β,t)=Γ(β,t)Γ(β). (2.12)

    The lower regularized incomplete gamma function is defined by

    P(β,t)=1Q(β,t)=γ(β,t)Γ(β). (2.13)

    Remark 11 ([32]). Let ςR+ and βC, where ((β)>0), It is clear that P(β,ς(ta)) is a non-decreasing function with respect to t[a,b]. Moreover

    P(β,ς(ta))[0,1] for all ta; (2.14)
    maxt[a,b]P(β,ς(ta))=P(β,ς(ta))|t=b=P(β,ς(ba)); (2.15)
    mint[a,b]P(β,ς(ta))=P(β,ς(ta))|t=a=0. (2.16)

    Lemma 12 ([32,37]). Let σ(0,1], and ω>0. Then

    (Jω,σa+1)(t)={P(ω,1σσ(ta))(1σ)ω, for σ(0,1),(Iωa+1)(t)=(ta)ωΓ(ω+1), for σ=1, (2.17)

    where t[a,b] and the function P is defined by Eq (2.13). Moreover

    limσ1P(ω,1σσ(ta))(1σ)ω=(Iωa+1)(t)=(ta)ωΓ(ω+1) (2.18)

    and

    maxt[a,b](limσ1P(ω,1σσ(ta))(1σ)ω)=(ba)ωΓ(ω+1). (2.19)

    Lemma 13 ([32,37]). Let σ(0,1), t1,t2[a,b] (t1t2) and ω>0. Then

    t2t1(bρ)ω1eσ1σ(bρ)dρ=σωΓ(ω)(1σ)ω[P(ω,1σσ(bt1))P(ω,1σσ(bt2))], (2.20)

    where the function P is defined by Eq (2.13).

    Lemma 14 ([32,37]). Let σ(0,1], β>0 and aρt1<t2b. Then

    limt2t1t1a|(t2ρ)β1eσ1σ(t2ρ)(t1ρ)β1eσ1σ(t1ρ)|dρ=0. (2.21)

    Theorem 15 (Dhage [38]). Let be a non-empty, closed convex and bounded subset of a Banach algebra Σ and let A,C:ΣΣ and B:Σ be three operators satisfying the following conditions.

    (1) A and C are Lipschitz with Lipschitz constants ˜A and ˜C, respectively

    (2) B is completely continuous

    (3)  ˜AMB+˜C<1, where MB=B()=sup{Bx∥:x}

    (4) AxBy+Cx=xx for all y.

    Then, the operator equation

    AxBx+Cx=x (2.22)

    has a solution in .

    In this section, we provide our essential findings concerning the problem defined by (1.6) and then derive the existence results for the special cases 1, 2 and 3.

    Lemma 16. Let σ(0,1], 1<β2, αi>0,(i=1,...,m). For ΘC([0,T],R), the solution of

    {CpDβ,σ0+(u(t)i=mi=1Jαi,σhi(t,u(t))f(t,u(t)))=Θ(t)u(0)=u0,u(T)=uT, (3.1)

    is equivalent to the integral equation

    u(t)=f(t,u(t))[u0f(0,u0)(1tT)eσ1σt+uTtTeσ1σtf(T,uT)eσ1σTteσ1σtf(T,uT)Teσ1σTi=mi=11σαiΓ(αi)T0(Tρ)αi1eσ1σ(Tρ)hi(ρ,u(ρ))dρteσ1σtTeσ1σT1σβΓ(β)T0(Tρ)β1eσ1σ(Tρ)Θ(ρ)dρ+1σβΓ(β)t0(tρ)β1eσ1σ(tρ)Θ(ρ)dρ]+mi=11σαiΓ(αi)t0(tρ)αi1eσ1σ(tρ)hi(ρ,u(ρ))dρ. (3.2)

    Proof. Applying the operator Jβ,σ0+ on both sides of the equation in Eq (3.1), we get

    u(t)i=mi=1Jαi,σ0+hi(t,u(t))f(t,u(t))c0eσ1σtc1teσ1σt=Jβ,σ0+Θ(t). (3.3)

    From the boundary conditions u(0)=u0 and u(T)=uT we get

    c0=u0f(0,u0), (3.4)

    and

    c1=uTi=mi=1Jαi,σ0+hi(.,u(.))(T)f(T,uT)Teσ1σTu0f(0,u0)T1Teσ1σTJβ,σ0+Θ(T). (3.5)

    Substituting the values of c0 and c1 in Eq (3.3), we obtain

    u(t)=f(t,u(t))[u0f(0,u0)(1tT)eσ1σt+uTtTeσ1σtf(T,uT)eσ1σTteσ1σtf(T,uT)Teσ1σTi=mi=1Jαi,σ0+hi(,u())(T)teσ1σtTeσ1σTJβ,σΘ(T)+Jβ,σ0+Θ(t)]+i=mi=1Jαi,σ0+hi(t,u(t)).

    Inversely, it is obvious that if u(t) satisfies Eq (3.2), then Eq (3.1) holds. The proof is complete.

    Now, consider the Banach algebra space defined by Σ=C([0,T],R), with the norm u=sup0tT|u(t)|. Then, we define the multiplication in Σ by (uv)(t)=u(t)v(t) for all u,vΣ and the operator Φ:ΣΣ  by

    Φu(t)=f(t,u(t))[u0f(0,u0)(1tT)eσ1σt+uTtTeσ1σtf(T,uT)eσ1σTtTeσ1σtf(T,uT)eσ1σTi=mi=1T0(Tρ)αi1eσ1σ(Tρ)hi(ρ,u(ρ))dρσαiΓ(αi)tTeσ1σtσβΓ(β)eσ1σTT0(Tρ)β1eσ1σ(Tρ)g(ρ,u(ρ))dρ+1σβΓ(β)t0(tρ)β1eσ1σ(tρ)g(ρ,u(ρ))dρ]+i=mi=11σαiΓ(αi)t0(tρ)αi1eσ1σ(tρ)hi(ρ,u(ρ))dρ. (3.6)

    Remark 17. The problem described by Eq (1.6) has a solution uΣ if only if u is fixed point of the operator Φ.

    To prove the existence, we need the following assumption:

    (H1) Assume that g:[0,T]×RR is continuous function, there exists a continuous function ˜g from [0,T] to R+ and a continuous nondecreasing function ψ from R+ to R+{0} such that |g(t,u(t))|˜g(t)ψ(u), for all t[0,T] with sup0tT˜g(t)=˜g.

    (H2) Assume that hi:[0,T]×RR, i=1,...,4, are continuous functions, there exist Lhi>0, i=1,...,m such that |hi(t,λ1)hi(t,λ2)|Lhi|λ1λ2|, for all (t,λ1,λ2)[0,T]×R×R and |hi(t,0)|θi(t), where θi(t) are positive and continuous functions on [0,T] for i=1,...,m with sup0tTθi(t)=θi.

    (H3) Assume that there exists Lf>0 such that |f(t,λ1)f(t,λ2)|Lf|λ1λ2|, for all (t,λ1,λ2)[0,T]×R×R, and |f(t,0)|ζ(t), where ζ(t) is positive and continuous function on [0,T] with sup0tTζ(t)=ζ.

    Now, we present the following existence theorem for the problem described in Eq (1.6) using the Dhage's fixed point theorem.

    Theorem 18. Let σ(0,1) and the hypotheses (H1),(H2) and (H3) hold. If there exists a real number R>0 such that

    Rϱζ+i=mi=1θiP(αi,1σσT)(1σ)αi1ϱLfi=mi=1LhiP(αi,1σσT)(1σ)αi, (3.7)

    where P denotes the lower regularized incomplete gamma function with

    ϱLf+i=mi=1LhiP(αi,1σσT)(1σ)αi<1, (3.8)

    and

    ϱ=|u0||f(0,u0)|+1|f(T,uT)|eσ1σT[|uT|+i=mi=1(LhiR+θi)P(αi,1σσT)(1σ)αi]+(1eσ1σT+1)˜gψ(R)P(β,1σσT)(1σ)β. (3.9)

    Then, the problem described in Eq (1.6) has at least one solution on [0,T].

    Proof. Consider ={uΣ, s.t. uR} and let

    Φu=AuBu+Cu, (3.10)

    where A,C:ΣΣ and B:Σ are three operators defined by

    Au(t)=f(t,u(t)), (3.11)
    Bu(t)=u0f(0,u0)(1tT)eσ1σt+uTtTeσ1σtf(T,uT)eσ1σTtTeσ1σtf(T,uT)eσ1σTi=mi=1T0(Tρ)αi1eσ1σ(Tρ)hi(ρ,u(ρ))dρσαiΓ(αi)tTeσ1σtσβΓ(β)eσ1σTT0(Tρ)β1eσ1σ(Tρ)g(ρ,u(ρ))dρ+1σβΓ(β)t0(tρ)β1eσ1σ(tρ)g(ρ,u(ρ))dρ (3.12)

    and

    Cu(t)=i=mi=11σαiΓ(αi)t0(tρ)αi1eσ1σ(tρ)hi(ρ,u(ρ))dρ. (3.13)

    Claim (1). A and C are Lipschitz with Lipschitz constants ˜A and ˜C, respectively.

    Let u,vΣ, for all t[0,T] we have

    |Au(t)Av(t)|=|f(t,u(t))f(t,v(t))|Lfuv,

    which yields

    AuAv˜Auv, where ˜A=Lf.

    Next, we have

    |Cu(t)Cv(t)|i=mi=11σαiΓ(αi)t0(tρ)αi1eσ1σ(tρ)|hi(ρ,u(ρ))hi(ρ,v(ρ))|dρi=mi=1LhiσαiΓ(αi)t0(tρ)αi1eσ1σ(tρ)dρuv=i=mi=1LhiP(αi,1σσt)(1σ)αiuvi=mi=1LhiP(αi,1σσT)(1σ)αiuv,

    which yields

    CuCv˜Cuv, where ˜C=i=mi=1LhiP(αi,1σσT)(1σ)αi. (3.14)

    Hence A and C are Lipschitz with Lipschitz constants ˜A and ˜C, respectively.

    Claim (2). B is completely continuous.

    Step 1. We will show that the operator B:Σ is uniformly bounded.

    For any u, we have

    |Bu(t)|=|u0||f(0,u0)|(1tT)eσ1σt+|uT|tTeσ1σt|f(T,uT)|eσ1σT+tTeσ1σt|f(T,uT)|eσ1σTi=mi=1T0(Tρ)αi1eσ1σ(Tρ)|hi(ρ,u(ρ))|dρσαiΓ(αi)+tTeσ1σtσβΓ(β)eσ1σTT0(Tρ)β1eσ1σ(Tρ)|g(ρ,u(ρ))|dρ+1σβΓ(β)t0(tρ)β1eσ1σ(tρ)|g(ρ,u(ρ))|dρ.

    For u and t[0,T], using (H3) we get

    |hi(t,u(t))|=|hi(t,u(t))hi(t,0)+hi(t,0)||hi(t,u(t))hi(t,0)|+|hi(t,0)|LhiR+θi.

    Then, using Lemma 13, we obtain

    |Bu(t)||u0||f(0,u0)|+|uT||f(T,uT)|eσ1σT+1|f(T,uT)|eσ1σTi=mi=1(LhiR+θi)P(αi,1σσT)(1σ)αi+˜gψ(R)P(β,1σσT)(1σ)βeσ1σT+˜gψ(R)P(β,1σσT)(1σ)β=ϱ<+.

    Therefore, Bu<+, and consequently B() is bounded. Hence, B is uniformly bounded.

    Step 2.We show that the continuity of B on . Let (un)nN be a sequence where limn+un=u with u.

    For all t[0,T], we have

    limn+Bun(t)=u0f(0,u0)(1tT)eσ1σt+uTtTeσ1σtf(T,uT)eσ1σTtTeσ1σtf(T,uT)eσ1σTi=mi=1limn+T0(Tρ)αi1eσ1σ(Tρ)hi(ρ,un(ρ))dρσαiΓ(αi)tTeσ1σtσβΓ(β)eσ1σTlimn+T0(Tρ)β1eσ1σ(Tρ)g(ρ,un(ρ))dρ+1σβΓ(β)limn+t0(tρ)β1eσ1σ(tρ)g(ρ,un(ρ))dρ.

    Using the Lebesgue dominated convergence theorem, we get

    limn+Bun(t)=u0f(0,u0)(1tT)eσ1σt+uTtTeσ1σtf(T,uT)eσ1σTtTeσ1σtf(T,uT)eσ1σTi=mi=1T0(Tρ)αi1eσ1σ(Tρ)limn+hi(ρ,un(ρ))dρσαiΓ(αi)tTeσ1σtσβΓ(β)eσ1σTT0(Tρ)β1eσ1σ(Tρ)limn+g(ρ,un(ρ))dρ+1σβΓ(β)t0(tρ)β1eσ1σ(tρ)limn+g(ρ,un(ρ))dρ=Bu(t),

    which yields limn+BunBu=0. Therefore, B is continuous on .

    Step 3.We prove that B() is equicontinuous.

    Let t1,t2I=[0,T] with t1>t2. Then, for any u, we have

    |Bu(t2)Bu(t1)|=|u0f(0,u0){(1t2T)eσ1σt2(1t1T)eσ1σt1}+uT{t2Teσ1σt2t1Teσ1σt1}f(T,uT)eσ1σT{t2Teσ1σt2t1Teσ1σt1}f(T,uT)eσ1σTi=mi=1T0(Tρ)αi1eσ1σ(Tρ)hi(ρ,u(ρ))dρσαiΓ(αi){t2Teσ1σt2t1Teσ1σt1}σβΓ(β)eσ1σTT0(Tρ)β1eσ1σ(Tρ)g(ρ,u(ρ))dρ+1σβΓ(β)t20(t2ρ)β1eσ1σ(t2ρ)g(ρ,u(ρ))dρ1σβΓ(β)t10(t1ρ)β1eσ1σ(t1ρ)g(ρ,u(ρ))dρ||u0||f(0,u0)||(1t2T)eσ1σt2(1t1T)eσ1σt1|+|uT||t2Teσ1σt2t1Teσ1σt1||f(T,uT)|eσ1σT+|t2Teσ1σt2t1Teσ1σt1|f(T,uT)eσ1σTi=mi=1(LhiR+θi)T0(Tρ)αi1eσ1σ(Tρ)dρσαiΓ(αi)+|t2Teσ1σt2t1Teσ1σt1|˜gψ(R)σβΓ(β)eσ1σTT0(Tρ)β1eσ1σ(Tρ)dρ+˜gψ(R)σβΓ(β)t10|(t2ρ)β1eσ1σ(t2ρ)(t1ρ)β1eσ1σ(t1ρ)|dρ+˜gψ(R)σβΓ(β)t2t1(t2ρ)β1eσ1σ(t2ρ)dρ.

    Using Lemmas 16 and 14, we obtain

    |Bu(t2)Bu(t1)|0 as t1t2.

    Therefore, Bu(t) is equicontinuous on [0,T].

    Making use of the Arzela-Ascoli theorem, we have B() is relatively compact. Thus B is a compact operator and as a consequence B is completely continuous.

    Claim (3). ˜AMB+˜C<1, where MB=sup{Bu∥:u}.

    We have MB=B()=sup{Bu∥:u}ϱ where ϱ is given by(3.9). So,

    ˜AMB+˜CϱLf+i=mi=1LhiP(αi,1σσT)(1σ)αi<1.

    Claim (4).AuB¯u+Cu=uu for all ¯u.

    Let ¯u we have

    uAuB¯u+Cu=supt[0,T][|f(t,u(t))||u0f(0,u0)(1tT)eσ1σt+uTtTeσ1σtf(T,uT)eσ1σTtTeσ1σtf(T,uT)eσ1σTi=mi=1T0(Tρ)αi1eσ1σ(Tρ)hi(ρ,u(ρ))dρσαiΓ(αi)tTeσ1σtσβΓ(β)eσ1σTT0(Tρ)β1eσ1σ(Tρ)g(ρ,u(ρ))dρ+1σβΓ(β)t0(tρ)β1eσ1σ(tρ)g(ρ,u(ρ))dρ|+|i=mi=11σαiΓ(αi)t0(tρ)αi1eσ1σ(tρ)hi(ρ,u(ρ))dρ|]supt[0,T][(Lfu+ζ)ϱ+i=mi=1(Lhiu+θi)P(αi,1σσt)(1σ)αi]=(Lfu+ζ)ϱ+mi=1(Lhiu+θi)P(αi,1σσT)(1σ)αi=u(ϱLf+mi=1LhiP(αi,1σσT)(1σ)αi)+ϱζ+mi=1θiP(αi,1σσT)(1σ)αi,

    which yields

    uϱζ+i=mi=1θiP(αi,1σσT)(1σ)αi1ϱLfi=mi=1LhiP(αi,1σσT)(1σ)αiR.

    Therefore, u.

    Thus, all the conditions of Dhage fixed point theorem are satisfied; hence, the operator Φ has a fixed point in . As a result, the proportional fractional boundary value problem declaired in Eq (1.6) has at least one solution on [0,T]. This completes the proof.

    In the following, we present the existence theorem for the given problems in the special cases 1, 2 and 3.

    Remark 19. From Lemma 12, in case σ=1, we can replace the formula P(ω,1σσT)(1σ)ω by the formula TωΓ(ω+1) (ω{β,α1,...,αm}). Then, by using Theorem 18 we can conclude the existence results of the given problem with usual Caputo fractional derivative.

    Corollary 20. Let σ=1 (i.e., CpDβ,σ0+= CDβ0+) and assume that the hypotheses (H1),(H2) and (H3) hold. If there exists a real number R>0 such that

    R˜ϱζ+i=mi=1θiTαiΓ(αi+1)1˜ϱLfi=mi=1LhiTαiΓ(αi+1), (3.15)

    where

    ˜ϱLf+i=mi=1LhiTαiΓ(αi+1)<1 (3.16)

    and

    ˜ϱ=|u0||f(0,u0)|+1|f(T,uT)|[|uT|+i=mi=1(LhiR+θi)TαiΓ(αi+1)]+2˜gψ(R)TβΓ(β+1). (3.17)

    Then, the identified problem in Eq (1.6) has at least one solution on [0,T].

    Corollary 21. Let σ(0,1) and assume that the hypothesis (H1) holds. If there exists a real number R>0 such that

    Rϱ01ϱ0, (3.18)

    where

    ϱ0=|u0|+|uT|eσ1σT+(1eσ1σT+1)˜gψ(R)P(β,1σσT)(1σ)β<1. (3.19)

    Then, the problem in (1.7) has at least one solution on [0,T].

    Corollary 22. Let σ=1, and assume that the hypothesis (H1) holds. If there exists a real number R>0 such that

    Rϱ11ϱ1, (3.20)

    where

    ϱ1=|u0|+|uT|+2˜gψ(R)TβΓ(β+1)<1. (3.21)

    Then, the problem (1.8) has at least one solution on [0,T].

    In this section, we discuss the existence and uniqueness of solution for the following problem.

    {CpDβ,σ0+(u(t)i=mi=1Jαi,σ0+hi(t,u(t)))=g(t,u(t)), t[0,T],u(0)=u0,u(T)=uT, (4.1)

    Note that we can write the equivalent equation for problem described by Eq (4.1) as follows.

    u(t)=B1u(t)+Cu(t):=Φ1u(t), (4.2)

    where B1=B (with f(0,u0)=1=f(T,uT)) and B and C are given by Eq (3.12) and Eq (3.13), respectively.

    The following assumption is essential.

    (H4) Assume gC([0,T]2×R,R) and there exists Lg>0 such that |g(t,λ1)g(t,λ2)|Lg|λ1λ2|, for all (t,λ1,λ2)[0,T]×R×R and |g(t,0)|Υ(t), where Υ(t) is positive and continuous function on [0,T], with sup0tTΥ(t)=Υ.

    Theorem 23. Let σ(0,1) and assume that (H2) and (H4) are satisfied. Then, the problem described by Eq (4.1) has a unique solution on [0,T] if

    Δ<1, (4.3)

    where

    Δ=(LgP(β,1σσT)(1σ)β+i=mi=1LhiP(αi,1σσT)(1σ)αi)(e1σσT+1) (4.4)

    with P defined as in Eq (2.13).

    Proof. Let us set ¯={uΣ, s.t. ur}, where r>0 satisfying:

    r|u0|+|uT|e1σσT+¯Δ1Δ,

    where Δ is given by Eq (4.4) and

    ¯Δ=(e1σσT+1)(ΥP(β,1σσT)(1σ)β+i=mi=1θiP(αi,1σσT)(1σ)αi). (4.5)

    We will show that Φ1¯¯.

    For u¯ and t[0,T], we have

    |B1u(t)||u0|+|uT|eσ1σT+1eσ1σTi=mi=1(Lhir+θi)P(αi,1σσT)(1σ)αi+(Lgr+Υ)P(β,1σσT)(1σ)βeσ1σT+(Lgr+Υ)P(β,1σσT)(1σ)β.

    On the other hand, we have

    Cui=mi=1(Lhir+θi)P(αi,1σσT)(1σ)αi.

    We procure that

    Φ1uB1u+Cu|u0|+|uT|eσ1σT+(e1σσT+1)i=mi=1(Lhir+θi)P(αi,1σσT)(1σ)αi+(e1σσT+1)(Lgr+Υ)P(β,1σσT)(1σ)β=|u0|+|uT|e1σσT+¯Δ+Δrr,

    which implies that Φ1¯¯.

    Next, we show that the operator Φ1 is a contraction mapping.

    For u,vΣ and for all t[0,T], we have

    |B1u(t)B1v(t)|tTeσ1σteσ1σTi=mi=1T0(Tρ)αi1eσ1σ(Tρ)|hi(ρ,u(ρ))hi(ρ,v(ρ))|dρσαiΓ(αi)+tTeσ1σtσβΓ(β)eσ1σTT0(Tρ)β1eσ1σ(Tρ)|g(ρ,u(ρ))g(ρ,v(ρ))|dρ+1σβΓ(β)t0(tρ)β1eσ1σ(tρ)|g(ρ,u(ρ))g(ρ,u(ρ))|dρ1eσ1σTi=mi=1LhiuvP(αi,1σσT)(1σ)αi+LguvP(β,1σσT)(1σ)βeσ1σT+LguvP(β,1σσt)(1σ)β{1eσ1σTi=mi=1LhiP(αi,1σσT)(1σ)αi+LgP(β,1σσT)(1σ)β(e1σσT+1)}×uv.

    Taking the supermum over all t[0,T] and using the inequality (3.14) yield

    Φ1uΦ1vB1uB1v+CuCvΔuv.

    From the condition (4.3), we conclude that the operator Φ1 is a contraction mapping. Hence, the problem (4.1) has a unique solution on [0,T]. The proof is completed.

    Now, for σ=1, using Remark 19 above, we can easily come by the following result.

    Corollary 24. Let σ=1 (i.e., CpDβ,σ0+= CDβ0+) and assume that (H2) and (H4) are satisfied. Then, the problem describe by Eq (4.1) has a unique solution on [0,T] if

    Δ1<1, (4.6)

    where

    Δ1=2LgTβΓ(β+1)+i=mi=12LhiTαiΓ(αi+1). (4.7)

    We begin introducing the concept of Ulam-type stability for the problem described by (4.1).

    Definition 25. The solution of the problem described by (4.1) is said to be Ulam-Hyers stable if there exists a real constant Kg>0 such that for given ε>0 and for each solution vC([0,T],R) of the inequality

    | CpDβ,σ0+(u(t)i=mi=1Jαi,σ0+hi(t,u(t)))g(t,u(t))|ε, (5.1)

    there exists a solution uC([0,T],R) of problem described by Eq (4.1) with

    |v(t)u(t)|<Kgε,fort[0,T].

    Definition 26. The solution of the problem described by Eq (4.1) is said to be generalized Ulam-Hyers stable if there exists a function ϕgC(R+,R+) with ϕg(0)=0 such that, for any given ε>0 and for each solution vC([0,T],R) of the inequality (5.1), there exists a solution uC([0,T],R) of problem described by (4.1) with

    |v(t)u(t)|<ϕg(ε), for t[0,T].

    The stability mentioned in Definition 25 can be generalized if the constant ε is replaced by a certain type of functions. Such stability is called the Ulam-Hyers-Rassias stability.

    Definition 27. The solution of the problem described by (4.1) is said to be Ulam-Hyers-Rassias stable with respect to ϕgC([0,T],R+) if there exists Kg,ϕ>0 such that, for any given ε>0 and for each solution vC([0,T],R) of the inequality

    | CpDβ,σ0+(u(t)i=mi=1Jαi,σ0+hi(t,u(t)))g(t,u(t))|εϕg(t), (5.2)

    there exists a solution uC([0,T],R) of the problem described by (4.1) with

    |v(t)u(t)|<Kg,ϕεϕg(t), fort[0,T].

    Definition 28. The solution of the problem described by (4.1) is a generalized Ulam-Hyers-Rassias stable with respect to ϕgC([0,T],R+) if there exists Kg,ϕ>0 such that, for any given ε>0 and for each solution vC([0,T],R) of inequality

    | CpDβ,σ0+(u(t)i=mi=1Jαi,σ0+hi(t,u(t)))g(t,u(t))|ϕg(t), (5.3)

    there exists a solution uC([0,T],R) of problem (4.1) with

    |v(t)u(t)|<Kg,ϕϕg(t), for t[0,T].

    Remark 29. A function vC([0,T],R) is a solution of the inequality (5.2) if and only if there exists a small perturbation ΞC([0,T],R) (dependent on v) such that

    i) |Ξ(t)|εϕΞ(t), t[0,T],

    ii) CpDβ,σ0+(u(t)i=mi=1Jαi,σ0+hi(t,u(t)))=g(t,u(t))+Ξ(t), t[0,T].

    Lemma 30. If vC([0,T],R) represents a solution of inequality (5.2), then v is a solution of the following integral inequality

    |v(t)Φ1v(t)|εΠϕΞ(t) (5.4)

    where

    ΠϕΞ(t)=tTe1σσ(Tt)(Jα,σ0+ϕΞ)(T)+(Jα,σ0+ϕΞ)(t) (5.5)

    Proof. From Remark 29, we get

    v(t)=u0f(0,u0)(1tT)eσ1σt+uTtTeσ1σtf(T,uT)eσ1σTtTeσ1σtf(T,uT)eσ1σTi=mi=1T0(Tρ)αi1eσ1σ(Tρ)hi(ρ,v(ρ))dρσαiΓ(αi)tTeσ1σtσβΓ(β)eσ1σTT0(Tρ)β1eσ1σ(Tρ)[g(ρ,v(ρ))+Ξ(ρ)]dρ+1σβΓ(β)t0(tρ)β1eσ1σ(tρ)[g(ρ,v(ρ))+Ξ(ρ)]dρ+i=mi=11σαiΓ(αi)t0(tρ)αi1eσ1σ(tρ)hi(ρ,u(ρ))dρ,

    this yields that

    |v(t)Φ1v(t)||tTeσ1σtσβΓ(β)eσ1σTT0(Tρ)β1eσ1σ(Tρ)Ξ(ρ)dρ+1σβΓ(β)t0(tρ)β1eσ1σ(tρ)Ξ(ρ)dρ|=tTe1σσ(Tt) |( Jα,σ0+Ξ)(T)+(Jα,σ0+Ξ)(t)|tTe1σσ(Tt)ε(Jα,σ0+ϕΞ)(T)+ε(Jα,σ0+ϕΞ)(t)=εΠϕΞ(t),

    which leads to the inequality in (5.4).

    In the following, we present the theorem related the Ulam-Hyers-Rassias stability of the solution of the problem described by Eq (4.1).

    Theorem 31. Let σ(0,1). Assume that (H1), (H2) and (H4) are satisfied with

    Δ<1.

    Then, the solution to the problem described by Eq (4.1) is both Ulam-Hyers-Rassias stable and generalized Ulam-Hyers Rassias stable on [0,T].

    Proof. From Lemma 30 we get, for t[0,T]

    |v(t)u(t)||v(t)Φ1v(t)|+|Φ1v(t)u(t)|=|v(t)Φ1v(t)|+|Φ1v(t)Φ1u(t)|εΠϕΞ(t)+Δ|v(t)u(t)|.

    This yields that

    |v(t)u(t)|εΠϕΞ(t)1Δ.

    By setting Kg,ϕ=11Δ, we end up with

    |v(t)u(t)|Kg,ϕεΠϕΞ(t).

    Hence, the solution of problem described by Eq (4.1) is Ulam-Hyers-Rassias stable with respect to ΠϕΞ. Moreover, if we set ϕg(t)=εΠϕΞ(t) with ϕg(0)=0, then the same solution is generalized Ulam-Hyers-Rassias stable. The proof is completed.

    Corollary 32. Let σ=1 (i.e., CpDβ,σ0+= CDβ0+) and assume that (H2) and (H4) are satisfied with Δ1<1 where Δ1 is given by (4.7). Then, the solution of the problem described by Eq (4.1) is both Ulam-Hyers-Rassias stable and generalized Ulam-Hyers Rassias stable on [0,T].

    Remark 33. Let σ(0,1]. By using Theorem 31 and Corollary 32, we can conclude that:

    1) If ΠϕΞ(t)=1, then the solution of the problem described by (4.1) is Ulam-Hyers stable.

    2) If we set ϕg(ε)=Kg,ϕε with ϕg(0)=0, then the solution of the problem described by (4.1) is generalized Ulam-Hyers stable.

    Consider the following hybrid proportional fractional integro-differential equation:

    {CpD32,340+(u(t)i=4i=1J2i14,340+cos|u(t)|t+10if(t,u(t)))=ϵ(1t)sin|u(t)|1+|u(t)|,t[0,1],u(0)=110, u(1)=120, (6.1)

    where the real constant ϵ and the function f(t,u(t)) will be fixed later.

    Here T=1,β=32,σ=34,αi=2i14,hi(t,u(t))=cos|u(t)|t+100i,(i=1,...,4),g(t,u(t))=ϵ(1t)sin|u(t)|1+|u(t)|,u0=110 and u1=120.

    We can show that

    |hi(t,λ1)hi(t,λ2)|110i|λ1λ2|,  i=1,...,4,
    |hi(t,0)|110i,  i=1,...,4,
    |g(t,u(t))||ϵ|(1t)u1+u.

    Also, for all (t,λ)[0,1]×R, we have

    |λg(t,λ)|=|ϵ|(1t)|(1+|λ|)cos|λ|sin|λ|(1+|λ|)2|2|ϵ|,

    It follows that Lhi=110i=θi,(i=1,...,4),Lg=2|ϵ|,˜g=|ϵ| and ψ(u)=u1+u.

    Using Matlab program, we find

    P(β,1σσT)=0.118985157486215,
    P(α1,1σσT)=0.787212464733354,
    P(α2,1σσT)=0.415815178677325,
    P(α3,1σσT)=0.186545461450941,
    P(α4,1σσT)=0.073797013512809.

    For illustrating Theorem 18, we take f(t,u(t))=1101+|u(t)|2 and ϵ=1.

    We can show that

    |f(t,λ1)f(t,λ2)|110|λ1λ2| and |f(t,0)|=110,

    i.e., Lf=110 and ζ=110.

    We see that the condition (3.7) and (3.8) is followed with a real number R [0.929854125359180,5.322899777680700].

    Therefore, all conditions in Theorem 18 are satisfied. We conclude that the problem (6.1) has at least one solution on [0,1].

    Remark 34. If R=0.929854125359180, we obtain

    ϱ=2.555690432688444,
    ϱζ+i=mi=1θiP(αi,1σσT)(1σ)αi1ϱLfi=mi=1LhiP(αi,1σσT)(1σ)αi=0.929854125359179R,

    and

    ϱLf+i=mi=1LhiP(αi,1σσT)(1σ)αi=0.481751141209855<1,

    Also, if R=5.322899777680700, we obtain

    ϱ=6.153559316370539,
    ϱζ+i=mi=1θiP(αi,1σσT)(1σ)αi1ϱLfi=mi=1LhiP(αi,1σσT)(1σ)αi=5.322899777680694R,

    and

    ϱLf+i=mi=1LhiP(αi,1σσT)(1σ)αi=0.841538029578065<1.

    Note that all conditions in Theorem 18 are satisfied. We conclude that the problem (6.1) has at least one solution on [0,1].

    For illustrating Theorems 23 and 31, we take f(t,λ)=1 for all (t,λ) [0,1]×</p><p>R</p><p> and ϵ=111π.

    Using the above data, we find:

    Δ=0.978416714361031<1.

    In virtue of Theorem 23, problem (6.1) has a unique solution. Furthermore, we can compute

    Kg,ϕ=11Δ=46.332148715785415>0.

    Thus, by use of Theorem 31, problem (6.1) is Ulam-Hyers-Rassias stable, and consequently generalized Ulam-Hyers-Rassias stable.

    In this work, we inspected the existence of solutions to a certain class of hybrid fractional intego-differential equations in the casement of generalized proportional fractional hybrid integro-differential equations supplemented with Dirichlet boundary conditions. The existence of at least one solution was shown with the assistance of the hybrid fixed point theorem for a product of three operators. In addition, for some special cases, the uniqueness of the solutions for the considered class of equations, and their stability in the sense of Ulam, were discussed.

    We believe that the results obtained will be very important for the researchers working on the qualitative aspects of the boundary value problems in the frame work of the generalized fractional derivatives mentioned in the article. This is due to the fact that as far as we know this is the first work in which the lower regularized incomplete gamma function is used to discuss some qualitative aspects of solutions to fractional differential equations.

    The authors declare there is no conflict of interest.



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