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 g∈C([0,T]×R,R) and f∈C([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<β≤1, g∈C([0,T]×R,R) and f,h∈C([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 hi∈C([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<β≤1, α>0 and h,k:[0,T]×R⟶R, f :[0,T]×R⟶R∖{0}, g:[0,T]×R×R⟶R 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<β≤2, αi>0,(i=1,...,m),m∈N∗, u0,uT∈R 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]×R⟶R, f :[0,T]×R⟶R∖{0},g:[0,T]×R⟶R 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 β≥0. The left fractional integral of Reimann-Liouville type of the function Θ∈L1([0,T],R) is defined by I0a+Θ(t)=Θ(t) and
Iβa+Θ(t)=1Γ(β)∫ta(t−ρ)β−1Θ(ρ)dρ, for β>0, | (2.1) |
where t∈[a,b].
Definition 5 ([33]). Let β≥0. The left fractional derivative of Caputo-Liouville type of the function Θ∈Cn([0,T],R) is defined by CD0a+Θ(t)=Θ(t) and
CDβa+Θ(t)=In−βa+(DnΘ)(t)=1Γ(n−β)∫ta(t−ρ)n−β−1DnΘ(ρ)dρ for β>0, | (2.2) |
where n−1<β≤n, n∈N.
Definition 6 ([34]). Let σ∈(0,1], and β≥0. The left generalized proportional fractional integral of Reimann-Liouville type of the function Θ∈L1([0,T],R) is defined by J0,σa+Θ(t)=Θ(t) and
Jβ,σa+Θ(t)=1σβΓ(β)∫ta(t−ρ)β−1eσ−1σ(t−ρ)Θ(ρ)dρ, for β>0, | (2.3) |
where t∈[a,b].
Definition 7 ([34]). Let σ∈(0,1], and β≥0. The left generalized proportional fractional derivative of Caputo-Liouville type of the function Θ∈Cn([0,T],R) is defined by CpD0,σa+Θ(t)=Θ(t) and
CpDβ,σa+Θ(t)=Jn−β,σa+(Dn,σΘ)(t)=1σβΓ(n−β)∫ta(t−ρ)n−β−1eσ−1σ(t−ρ)(Dn,σΘ)(ρ)dρ for β>0, | (2.4) |
where n−1<β≤n, n∈N. and (D1,σΘ)(t)=(DσΘ)(t)=(1−σ)Θ(t)+σΘ′(t), and
(Dn,σΘ)(t)={Θ(t), for n=0,(DσDσ⋯Dσ⏟n −timesΘ)(t), for n≥1. | (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 n−1<β≤n, and Θ∈L1([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)−n−1∑k=0ck(t−a)keσ−1σ(t−a),(here Θ∈Cn([0,T],R)), | (2.8) |
where ck=(Dk,σΘ)(a)σkk!. In particular, when 1<β≤2 and a=0, we have
Jβ,σ0+(CpDβ,σ0+Θ)(t)=Θ(t)−c0eσ−1σt−c1teσ−1σt. | (2.9) |
Definition 10 ([32,35,36]). Let β∈ (ℜ(β)>0).
The upper incomplete gamma function is defined by
Γ(β,t)=∫+∞txβ−1e−xdx, t≥0. | (2.10) |
The lower incomplete gamma function is defined by
γ(β,t)=∫t0xβ−1e−xdx, t≥0. | (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)=1−Q(β,t)=γ(β,t)Γ(β). | (2.13) |
Remark 11 ([32]). Let ς∈R+ and β∈C, where (ℜ(β)>0), It is clear that P(β,ς(t−a)) is a non-decreasing function with respect to t∈[a,b]. Moreover
P(β,ς(t−a))∈[0,1] for all t≥a; | (2.14) |
maxt∈[a,b]P(β,ς(t−a))=P(β,ς(t−a))|t=b=P(β,ς(b−a)); | (2.15) |
mint∈[a,b]P(β,ς(t−a))=P(β,ς(t−a))|t=a=0. | (2.16) |
Lemma 12 ([32,37]). Let σ∈(0,1], and ω>0. Then
(Jω,σa+1)(t)={P(ω,1−σσ(t−a))(1−σ)ω, for σ∈(0,1),(Iωa+1)(t)=(t−a)ωΓ(ω+1), for σ=1, | (2.17) |
where t∈[a,b] and the function P is defined by Eq (2.13). Moreover
limσ→1P(ω,1−σσ(t−a))(1−σ)ω=(Iωa+1)(t)=(t−a)ωΓ(ω+1) | (2.18) |
and
maxt∈[a,b](limσ→1P(ω,1−σσ(t−a))(1−σ)ω)=(b−a)ωΓ(ω+1). | (2.19) |
Lemma 13 ([32,37]). Let σ∈(0,1), t1,t2∈[a,b] (t1≤t2) and ω>0. Then
∫t2t1(b−ρ)ω−1eσ−1σ(b−ρ)dρ=σωΓ(ω)(1−σ)ω[P(ω,1−σσ(b−t1))−P(ω,1−σσ(b−t2))], | (2.20) |
where the function P is defined by Eq (2.13).
Lemma 14 ([32,37]). Let σ∈(0,1], β>0 and a≤ρ≤t1<t2≤b. Then
limt2→t1∫t1a|(t2−ρ)β−1eσ−1σ(t2−ρ)−(t1−ρ)β−1eσ−1σ(t1−ρ)|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:Σ→Σ 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=x⇒x∈℧ 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<β≤2, αi>0,(i=1,...,m). For Θ∈C([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)(1−tT)eσ−1σt+uTtTeσ−1σtf(T,uT)eσ−1σT−teσ−1σtf(T,uT)Teσ−1σTi=m∑i=11σαiΓ(αi)∫T0(T−ρ)αi−1eσ−1σ(T−ρ)hi(ρ,u(ρ))dρ−teσ−1σtTeσ−1σT1σβΓ(β)∫T0(T−ρ)β−1eσ−1σ(T−ρ)Θ(ρ)dρ+1σβΓ(β)∫t0(t−ρ)β−1eσ−1σ(t−ρ)Θ(ρ)dρ]+m∑i=11σαiΓ(αi)∫t0(t−ρ)αi−1eσ−1σ(t−ρ)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))−c0eσ−1σt−c1teσ−1σt=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=uT−∑i=mi=1Jαi,σ0+hi(.,u(.))(T)f(T,uT)Teσ−1σT−u0f(0,u0)T−1Teσ−1σTJβ,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)(1−tT)eσ−1σt+uTtTeσ−1σtf(T,uT)eσ−1σT−teσ−1σtf(T,uT)Teσ−1σTi=m∑i=1Jαi,σ0+hi(⋅,u(⋅))(T)−teσ−1σtTeσ−1σTJβ,σΘ(T)+Jβ,σ0+Θ(t)]+i=m∑i=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‖=sup0≤t≤T|u(t)|. Then, we define the multiplication in Σ by (uv)(t)=u(t)v(t) for all u,v∈Σ and the operator Φ:Σ→Σ by
Φu(t)=f(t,u(t))[u0f(0,u0)(1−tT)eσ−1σt+uTtTeσ−1σtf(T,uT)eσ−1σT−tTeσ−1σtf(T,uT)eσ−1σTi=m∑i=1∫T0(T−ρ)αi−1eσ−1σ(T−ρ)hi(ρ,u(ρ))dρσαiΓ(αi)−tTeσ−1σtσβΓ(β)eσ−1σT∫T0(T−ρ)β−1eσ−1σ(T−ρ)g(ρ,u(ρ))dρ+1σβΓ(β)∫t0(t−ρ)β−1eσ−1σ(t−ρ)g(ρ,u(ρ))dρ]+i=m∑i=11σαiΓ(αi)∫t0(t−ρ)αi−1eσ−1σ(t−ρ)hi(ρ,u(ρ))dρ. | (3.6) |
Remark 17. The problem described by Eq (1.6) has a solution u∈Σ 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]×R→R 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 sup0≤t≤T˜g(t)=‖˜g‖.
(H2) Assume that hi:[0,T]×R→R, i=1,...,4, are continuous functions, there exist Lhi>0, i=1,...,m such that |hi(t,λ1)−hi(t,λ2)|≤Lhi|λ1−λ2|, 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 sup0≤t≤Tθi(t)=‖θi‖.
(H3) Assume that there exists Lf>0 such that |f(t,λ1)−f(t,λ2)|≤Lf|λ1−λ2|, 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 sup0≤t≤Tζ(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
R≥ϱ‖ζ‖+∑i=mi=1‖θi‖P(αi,1−σσT)(1−σ)αi1−ϱLf−∑i=mi=1LhiP(αi,1−σσT)(1−σ)αi, | (3.7) |
where P denotes the lower regularized incomplete gamma function with
ϱLf+i=m∑i=1LhiP(αi,1−σσT)(1−σ)αi<1, | (3.8) |
and
ϱ=|u0||f(0,u0)|+1|f(T,uT)|eσ−1σT[|uT|+i=m∑i=1(LhiR+‖θi‖)P(αi,1−σσT)(1−σ)αi]+(1eσ−1σT+1)‖˜g‖ψ(R)P(β,1−σσT)(1−σ)β. | (3.9) |
Then, the problem described in Eq (1.6) has at least one solution on [0,T].
Proof. Consider ℧={u∈Σ, s.t. ‖u‖≤R} and let
Φu=AuBu+Cu, | (3.10) |
where A,C:Σ→Σ and B:℧→Σ are three operators defined by
Au(t)=f(t,u(t)), | (3.11) |
Bu(t)=u0f(0,u0)(1−tT)eσ−1σt+uTtTeσ−1σtf(T,uT)eσ−1σT−tTeσ−1σtf(T,uT)eσ−1σTi=m∑i=1∫T0(T−ρ)αi−1eσ−1σ(T−ρ)hi(ρ,u(ρ))dρσαiΓ(αi)−tTeσ−1σtσβΓ(β)eσ−1σT∫T0(T−ρ)β−1eσ−1σ(T−ρ)g(ρ,u(ρ))dρ+1σβΓ(β)∫t0(t−ρ)β−1eσ−1σ(t−ρ)g(ρ,u(ρ))dρ | (3.12) |
and
Cu(t)=i=m∑i=11σαiΓ(αi)∫t0(t−ρ)αi−1eσ−1σ(t−ρ)hi(ρ,u(ρ))dρ. | (3.13) |
Claim (1). A and C are Lipschitz with Lipschitz constants ˜A and ˜C, respectively.
Let u,v∈Σ, for all t∈[0,T] we have
|Au(t)−Av(t)|=|f(t,u(t))−f(t,v(t))|≤Lf‖u−v‖, |
which yields
‖Au−Av‖≤˜A‖u−v‖, where ˜A=Lf. |
Next, we have
|Cu(t)−Cv(t)|≤i=m∑i=11σαiΓ(αi)∫t0(t−ρ)αi−1eσ−1σ(t−ρ)|hi(ρ,u(ρ))−hi(ρ,v(ρ))|dρ≤i=m∑i=1LhiσαiΓ(αi)∫t0(t−ρ)αi−1eσ−1σ(t−ρ)dρ‖u−v‖=i=m∑i=1LhiP(αi,1−σσt)(1−σ)αi‖u−v‖≤i=m∑i=1LhiP(αi,1−σσT)(1−σ)αi‖u−v‖, |
which yields
‖Cu−Cv‖≤˜C‖u−v‖, where ˜C=i=m∑i=1LhiP(αi,1−σσT)(1−σ)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)|(1−tT)eσ−1σt+|uT|tTeσ−1σt|f(T,uT)|eσ−1σT+tTeσ−1σt|f(T,uT)|eσ−1σTi=m∑i=1∫T0(T−ρ)αi−1eσ−1σ(T−ρ)|hi(ρ,u(ρ))|dρσαiΓ(αi)+tTeσ−1σtσβΓ(β)eσ−1σT∫T0(T−ρ)β−1eσ−1σ(T−ρ)|g(ρ,u(ρ))|dρ+1σβΓ(β)∫t0(t−ρ)β−1eσ−1σ(t−ρ)|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)|eσ−1σT+1|f(T,uT)|eσ−1σTi=m∑i=1(LhiR+‖θi‖)P(αi,1−σσT)(1−σ)αi+‖˜g‖ψ(R)P(β,1−σσT)(1−σ)βeσ−1σT+‖˜g‖ψ(R)P(β,1−σσT)(1−σ)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)n∈N be a sequence where limn→+∞un=u with u∈℧.
For all t∈[0,T], we have
limn→+∞Bun(t)=u0f(0,u0)(1−tT)eσ−1σt+uTtTeσ−1σtf(T,uT)eσ−1σT−tTeσ−1σtf(T,uT)eσ−1σTi=m∑i=1limn→+∞∫T0(T−ρ)αi−1eσ−1σ(T−ρ)hi(ρ,un(ρ))dρσαiΓ(αi)−tTeσ−1σtσβΓ(β)eσ−1σTlimn→+∞∫T0(T−ρ)β−1eσ−1σ(T−ρ)g(ρ,un(ρ))dρ+1σβΓ(β)limn→+∞∫t0(t−ρ)β−1eσ−1σ(t−ρ)g(ρ,un(ρ))dρ. |
Using the Lebesgue dominated convergence theorem, we get
limn→+∞Bun(t)=u0f(0,u0)(1−tT)eσ−1σt+uTtTeσ−1σtf(T,uT)eσ−1σT−tTeσ−1σtf(T,uT)eσ−1σTi=m∑i=1∫T0(T−ρ)αi−1eσ−1σ(T−ρ)limn→+∞hi(ρ,un(ρ))dρσαiΓ(αi)−tTeσ−1σtσβΓ(β)eσ−1σT∫T0(T−ρ)β−1eσ−1σ(T−ρ)limn→+∞g(ρ,un(ρ))dρ+1σβΓ(β)∫t0(t−ρ)β−1eσ−1σ(t−ρ)limn→+∞g(ρ,un(ρ))dρ=Bu(t), |
which yields limn→+∞‖Bun−Bu‖=0. Therefore, B is continuous on ℧.
Step 3.We prove that B(℧) is equicontinuous.
Let t1,t2∈I=[0,T] with t1>t2. Then, for any u∈℧, we have
|Bu(t2)−Bu(t1)|=|u0f(0,u0){(1−t2T)eσ−1σt2−(1−t1T)eσ−1σt1}+uT{t2Teσ−1σt2−t1Teσ−1σt1}f(T,uT)eσ−1σT−{t2Teσ−1σt2−t1Teσ−1σt1}f(T,uT)eσ−1σTi=m∑i=1∫T0(T−ρ)αi−1eσ−1σ(T−ρ)hi(ρ,u(ρ))dρσαiΓ(αi)−{t2Teσ−1σt2−t1Teσ−1σt1}σβΓ(β)eσ−1σT∫T0(T−ρ)β−1eσ−1σ(T−ρ)g(ρ,u(ρ))dρ+1σβΓ(β)∫t20(t2−ρ)β−1eσ−1σ(t2−ρ)g(ρ,u(ρ))dρ−1σβΓ(β)∫t10(t1−ρ)β−1eσ−1σ(t1−ρ)g(ρ,u(ρ))dρ|≤|u0||f(0,u0)||(1−t2T)eσ−1σt2−(1−t1T)eσ−1σt1|+|uT||t2Teσ−1σt2−t1Teσ−1σt1||f(T,uT)|eσ−1σT+|t2Teσ−1σt2−t1Teσ−1σt1|f(T,uT)eσ−1σTi=m∑i=1(LhiR+‖θi‖)∫T0(T−ρ)αi−1eσ−1σ(T−ρ)dρσαiΓ(αi)+|t2Teσ−1σt2−t1Teσ−1σt1|‖˜g‖ψ(R)σβΓ(β)eσ−1σT∫T0(T−ρ)β−1eσ−1σ(T−ρ)dρ+‖˜g‖ψ(R)σβΓ(β)∫t10|(t2−ρ)β−1eσ−1σ(t2−ρ)−(t1−ρ)β−1eσ−1σ(t1−ρ)|dρ+‖˜g‖ψ(R)σβΓ(β)∫t2t1(t2−ρ)β−1eσ−1σ(t2−ρ)dρ. |
Using Lemmas 16 and 14, we obtain
|Bu(t2)−Bu(t1)|→0 as t1→t2. |
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+˜C≤ϱLf+i=m∑i=1LhiP(αi,1−σσT)(1−σ)αi<1. |
Claim (4).AuB¯u+Cu=u⇒u∈℧ for all ¯u∈℧.
Let ¯u∈℧ we have
‖u‖≤‖Au‖⋅‖B¯u‖+‖Cu‖=supt∈[0,T][|f(t,u(t))||u0f(0,u0)(1−tT)eσ−1σt+uTtTeσ−1σtf(T,uT)eσ−1σT−tTeσ−1σtf(T,uT)eσ−1σTi=m∑i=1∫T0(T−ρ)αi−1eσ−1σ(T−ρ)hi(ρ,u(ρ))dρσαiΓ(αi)−tTeσ−1σtσβΓ(β)eσ−1σT∫T0(T−ρ)β−1eσ−1σ(T−ρ)g(ρ,u(ρ))dρ+1σβΓ(β)∫t0(t−ρ)β−1eσ−1σ(t−ρ)g(ρ,u(ρ))dρ|+|i=m∑i=11σαiΓ(αi)∫t0(t−ρ)αi−1eσ−1σ(t−ρ)hi(ρ,u(ρ))dρ|]≤supt∈[0,T][(Lf‖u‖+‖ζ‖)ϱ+i=m∑i=1(Lhi‖u‖+‖θi‖)P(αi,1−σσt)(1−σ)αi]=(Lf‖u‖+‖ζ‖)ϱ+m∑i=1(Lhi‖u‖+‖θi‖)P(αi,1−σσT)(1−σ)αi=‖u‖(ϱLf+m∑i=1LhiP(αi,1−σσT)(1−σ)αi)+ϱ‖ζ‖+m∑i=1‖θi‖P(αi,1−σσT)(1−σ)αi, |
which yields
‖u‖≤ϱ‖ζ‖+∑i=mi=1‖θi‖P(αi,1−σσT)(1−σ)αi1−ϱLf−∑i=mi=1LhiP(αi,1−σσT)(1−σ)αi≤R. |
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,1−σσT)(1−σ)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≥˜ϱ‖ζ‖+∑i=mi=1‖θi‖TαiΓ(αi+1)1−˜ϱLf−∑i=mi=1LhiTαiΓ(αi+1), | (3.15) |
where
˜ϱLf+i=m∑i=1LhiTαiΓ(αi+1)<1 | (3.16) |
and
˜ϱ=|u0||f(0,u0)|+1|f(T,uT)|[|uT|+i=m∑i=1(LhiR+‖θi‖)TαiΓ(αi+1)]+2‖˜g‖ψ(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
R≥ϱ01−ϱ0, | (3.18) |
where
ϱ0=|u0|+|uT|eσ−1σT+(1eσ−1σT+1)‖˜g‖ψ(R)P(β,1−σσT)(1−σ)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
R≥ϱ11−ϱ1, | (3.20) |
where
ϱ1=|u0|+|uT|+2‖˜g‖ψ(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 g∈C([0,T]2×R,R) and there exists Lg>0 such that |g(t,λ1)−g(t,λ2)|≤Lg|λ1−λ2|, 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 sup0≤t≤TΥ(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,1−σσT)(1−σ)β+i=m∑i=1LhiP(αi,1−σσT)(1−σ)αi)(e1−σσT+1) | (4.4) |
with P defined as in Eq (2.13).
Proof. Let us set ¯℧={u∈Σ, s.t. ‖u‖≤r}, where r>0 satisfying:
r≥|u0|+|uT|e1−σσT+¯Δ1−Δ, |
where Δ is given by Eq (4.4) and
¯Δ=(e1−σσT+1)(‖Υ‖P(β,1−σσT)(1−σ)β+i=m∑i=1‖θi‖P(αi,1−σσT)(1−σ)αi). | (4.5) |
We will show that Φ1¯℧⊂¯℧.
For u∈¯℧ and t∈[0,T], we have
|B1u(t)|≤|u0|+|uT|eσ−1σT+1eσ−1σTi=m∑i=1(Lhir+‖θi‖)P(αi,1−σσT)(1−σ)αi+(Lgr+‖Υ‖)P(β,1−σσT)(1−σ)βeσ−1σT+(Lgr+‖Υ‖)P(β,1−σσT)(1−σ)β. |
On the other hand, we have
‖Cu‖≤i=m∑i=1(Lhir+‖θi‖)P(αi,1−σσT)(1−σ)αi. |
We procure that
‖Φ1u‖≤‖B1u‖+‖Cu‖≤|u0|+|uT|eσ−1σT+(e1−σσT+1)i=m∑i=1(Lhir+‖θi‖)P(αi,1−σσT)(1−σ)αi+(e1−σσT+1)(Lgr+‖Υ‖)P(β,1−σσT)(1−σ)β=|u0|+|uT|e1−σσT+¯Δ+Δr≤r, |
which implies that Φ1¯℧⊂¯℧.
Next, we show that the operator Φ1 is a contraction mapping.
For u,v∈Σ and for all t∈[0,T], we have
|B1u(t)−B1v(t)|≤tTeσ−1σteσ−1σTi=m∑i=1∫T0(T−ρ)αi−1eσ−1σ(T−ρ)|hi(ρ,u(ρ))−hi(ρ,v(ρ))|dρσαiΓ(αi)+tTeσ−1σtσβΓ(β)eσ−1σT∫T0(T−ρ)β−1eσ−1σ(T−ρ)|g(ρ,u(ρ))−g(ρ,v(ρ))|dρ+1σβΓ(β)∫t0(t−ρ)β−1eσ−1σ(t−ρ)|g(ρ,u(ρ))−g(ρ,u(ρ))|dρ≤1eσ−1σTi=m∑i=1Lhi‖u−v‖P(αi,1−σσT)(1−σ)αi+Lg‖u−v‖P(β,1−σσT)(1−σ)βeσ−1σT+Lg‖u−v‖P(β,1−σσt)(1−σ)β≤{1eσ−1σTi=m∑i=1LhiP(αi,1−σσT)(1−σ)αi+LgP(β,1−σσT)(1−σ)β(e1−σσT+1)}×‖u−v‖. |
Taking the supermum over all t∈[0,T] and using the inequality (3.14) yield
‖Φ1u−Φ1v‖≤‖B1u−B1v‖+‖Cu−Cv‖≤Δ‖u−v‖. |
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=m∑i=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 v∈C([0,T],R) of the inequality
| CpDβ,σ0+(u(t)−i=m∑i=1Jαi,σ0+hi(t,u(t)))−g(t,u(t))|≤ε, | (5.1) |
there exists a solution u∈C([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 ϕg∈C(R+,R+) with ϕg(0)=0 such that, for any given ε>0 and for each solution v∈C([0,T],R) of the inequality (5.1), there exists a solution u∈C([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 ϕg∈C([0,T],R+) if there exists Kg,ϕ>0 such that, for any given ε>0 and for each solution v∈C([0,T],R) of the inequality
| CpDβ,σ0+(u(t)−i=m∑i=1Jαi,σ0+hi(t,u(t)))−g(t,u(t))|≤εϕg(t), | (5.2) |
there exists a solution u∈C([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 ϕg∈C([0,T],R+) if there exists Kg,ϕ>0 such that, for any given ε>0 and for each solution v∈C([0,T],R) of inequality
| CpDβ,σ0+(u(t)−i=m∑i=1Jαi,σ0+hi(t,u(t)))−g(t,u(t))|≤ϕg(t), | (5.3) |
there exists a solution u∈C([0,T],R) of problem (4.1) with
|v(t)−u(t)|<Kg,ϕϕg(t), for t∈[0,T]. |
Remark 29. A function v∈C([0,T],R) is a solution of the inequality (5.2) if and only if there exists a small perturbation Ξ∈C([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 v∈C([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)=tTe1−σσ(T−t)(Jα,σ0+ϕΞ)(T)+(Jα,σ0+ϕΞ)(t) | (5.5) |
Proof. From Remark 29, we get
v(t)=u0f(0,u0)(1−tT)eσ−1σt+uTtTeσ−1σtf(T,uT)eσ−1σT−tTeσ−1σtf(T,uT)eσ−1σTi=m∑i=1∫T0(T−ρ)αi−1eσ−1σ(T−ρ)hi(ρ,v(ρ))dρσαiΓ(αi)−tTeσ−1σtσβΓ(β)eσ−1σT∫T0(T−ρ)β−1eσ−1σ(T−ρ)[g(ρ,v(ρ))+Ξ(ρ)]dρ+1σβΓ(β)∫t0(t−ρ)β−1eσ−1σ(t−ρ)[g(ρ,v(ρ))+Ξ(ρ)]dρ+i=m∑i=11σαiΓ(αi)∫t0(t−ρ)αi−1eσ−1σ(t−ρ)hi(ρ,u(ρ))dρ, |
this yields that
|v(t)−Φ1v(t)|≤|−tTeσ−1σtσβΓ(β)eσ−1σT∫T0(T−ρ)β−1eσ−1σ(T−ρ)Ξ(ρ)dρ+1σβΓ(β)∫t0(t−ρ)β−1eσ−1σ(t−ρ)Ξ(ρ)dρ|=tTe1−σσ(T−t) |( Jα,σ0+Ξ)(T)+(Jα,σ0+Ξ)(t)|≤tTe1−σσ(T−t)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)1−Δ. |
By setting Kg,ϕ=11−Δ, 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=1J2i−14,340+cos|u(t)|t+10if(t,u(t)))=ϵ(1−t)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=2i−14,hi(t,u(t))=cos|u(t)|t+100i,(i=1,...,4),g(t,u(t))=ϵ(1−t)sin|u(t)|1+|u(t)|,u0=110 and u1=120.
We can show that
|hi(t,λ1)−hi(t,λ2)|≤110i|λ1−λ2|, i=1,...,4, |
|hi(t,0)|≤110i, i=1,...,4, |
|g(t,u(t))|≤|ϵ|(1−t)‖u‖1+‖u‖. |
Also, for all (t,λ)∈[0,1]×R, we have
|∂λg(t,λ)|=|ϵ|(1−t)|(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‖)=‖u‖1+‖u‖.
Using Matlab program, we find
P(β,1−σσT)=0.118985157486215, |
P(α1,1−σσT)=0.787212464733354, |
P(α2,1−σσT)=0.415815178677325, |
P(α3,1−σσT)=0.186545461450941, |
P(α4,1−σσT)=0.073797013512809. |
For illustrating Theorem 18, we take f(t,u(t))=110√1+|u(t)|2 and ϵ=1.
We can show that
|f(t,λ1)−f(t,λ2)|≤110|λ1−λ2| 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, |
ϱ‖ζ‖+∑i=mi=1‖θi‖P(αi,1−σσT)(1−σ)αi1−ϱLf−∑i=mi=1LhiP(αi,1−σσT)(1−σ)αi=0.929854125359179≤R, |
and
ϱLf+i=m∑i=1LhiP(αi,1−σσT)(1−σ)αi=0.481751141209855<1, |
Also, if R=5.322899777680700, we obtain
ϱ=6.153559316370539, |
ϱ‖ζ‖+∑i=mi=1‖θi‖P(αi,1−σσT)(1−σ)αi1−ϱLf−∑i=mi=1LhiP(αi,1−σσT)(1−σ)αi=5.322899777680694≤R, |
and
ϱLf+i=m∑i=1LhiP(αi,1−σσT)(1−σ)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=11−Δ=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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