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Research article Special Issues

The use of Analytical Hierarchy Process in sensor-based networks for security-aware congestion control

  • Received: 31 October 2022 Revised: 02 December 2022 Accepted: 04 December 2022 Published: 13 December 2022
  • Network congestion may occur naturally or intentionally caused by selfish nodes. Existing congestion control techniques designed by researchers for sensor-based networks have primarily focused on natural modes of congestion occurrence and ignored malevolent nodes' potential for purposeful congestion-like scenario creation. In light of this fact, a security attack-resistant congestion control method that takes into account both possible sources of congestion in sensor nodes has been developed. So firstly, a trust-based technique has been developed to get rid of selfish nodes' intentional attempts to cause congestion. After the elimination of malicious nodes, a congestion avoidance method has been applied which tries to prevent the natural way of congestion occurrence. For this purpose, we have applied a multi-criteria decision-making method as there are many factors responsible for congestion occurrence. The remaining energy, node potential value, node load factor, and traffic burst rate have been considered as decision factors. Simulation results show that our Security Aware Congestion Control technique using the AHP method (SACC-AHP) outperforms the existing relevant techniques LEACH, TCEER, TASRP, CARA and SACC in terms of energy efficiency, security, packet delivery ratio and network lifetime.

    Citation: Divya Pandey, Vandana Kushwaha. The use of Analytical Hierarchy Process in sensor-based networks for security-aware congestion control[J]. Networks and Heterogeneous Media, 2023, 18(1): 244-274. doi: 10.3934/nhm.2023009

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  • Network congestion may occur naturally or intentionally caused by selfish nodes. Existing congestion control techniques designed by researchers for sensor-based networks have primarily focused on natural modes of congestion occurrence and ignored malevolent nodes' potential for purposeful congestion-like scenario creation. In light of this fact, a security attack-resistant congestion control method that takes into account both possible sources of congestion in sensor nodes has been developed. So firstly, a trust-based technique has been developed to get rid of selfish nodes' intentional attempts to cause congestion. After the elimination of malicious nodes, a congestion avoidance method has been applied which tries to prevent the natural way of congestion occurrence. For this purpose, we have applied a multi-criteria decision-making method as there are many factors responsible for congestion occurrence. The remaining energy, node potential value, node load factor, and traffic burst rate have been considered as decision factors. Simulation results show that our Security Aware Congestion Control technique using the AHP method (SACC-AHP) outperforms the existing relevant techniques LEACH, TCEER, TASRP, CARA and SACC in terms of energy efficiency, security, packet delivery ratio and network lifetime.



    Fractional calculus has emerged as a powerful tool to study complex phenomena in numerous scientific and engineering disciplines such as biology, physics, chemistry, economics, signal and image processing, control theory and so on. Fractional differential equations describe many real world process related to memory and hereditary properties of various materials more accurately as compared to classical order differential equations. For examples and applications see the monographs as [1,2,3,4,5,7,6,8].

    In the literature, many authors focused on Riemann-Liouville and Caputo type derivatives in investigating fractional differential equations. A generalization of derivatives of both Riemann-Liouville and Caputo was given by R. Hilfer in [9], the known as the Hilfer fractional derivative of order α and a type β[0,1], which interpolates between the Riemann-Liouville and Caputo derivative, since it is reduced to the Riemann-Liouville and Caputo fractional derivatives when β=0 and β=1, respectively. Some properties and applications of the Hilfer fractional derivative are given in [10,11] and references cited therein.

    Initial value problems involving Hilfer fractional derivatives were studied by several authors, see for example [12,13,14,15] and references therein. In [16] the authors initiated the study of nonlocal boundary value problems for Hilfer fractional derivative, by studying boundary value problem of Hilfer-type fractional differential equations with nonlocal integral boundary conditions

    HDα,βx(t)=f(t,x(t)),t[a,b],1<α<2,0β1, (1.1)
    x(a)=0,x(b)=mi=1δiIφix(ξi),φi>0,δiR,ξi[a,b], (1.2)

    where HDα,β is the Hilfer fractional derivative of order α, 1<α<2 and parameter β, 0β1, Iφi is the Riemann-Liouville fractional integral of order φi>0, ξi[a,b], a0 and δiR. Several existence and uniqueness results were proved by using a variety of fixed point theorems.

    In [17] the existence and uniqueness of solutions were studied, for a new class of system of Hilfer-Hadamard sequential fractional differential equations

    {(HDα1,β11++k1HDα11,β11+)u(t)=f(t,u(t),v(t)),  1<α12,  t[1,e],(HDα2,β21++k2HDα21,β21+)v(t)=g(t,u(t),v(t)),  1<α22,  t[1,e], (1.3)

    with two point boundary conditions

    {u(1)=0,  u(e)=A1,v(1)=0,  v(e)=A2, (1.4)

    where HDαi,βi is the Hilfer-Hadamard fractional derivative of order αi(1,2] and type βi[0,1] for i{1,2}, k1,k2,A1,A2R+ and f, g:[1,e]×R2R are given continuous functions.

    The fractional derivative with another function, in the Hilfer sense, called ψ-Hilfer fractional derivative, has been introduced in [18]. For some recent results on existence and uniqueness of initial value problems and results on Ulam-Hyers-Rassias stability see [19,20,21,22,23,24,25,26,27,28,29] and references therein. Recently, in [30] the authors extended the results in [16] to ψ-Hilfer nonlocal implicit fractional boundary value problems.

    Recently in [31] the existence and uniqueness of solutions were studied, for a new class of boundary value problems of sequential ψ-Hilfer-type fractional differential equations with multi-point boundary conditions of the form

    (HDα,β;ψ+kHDα1,β;ψ)x(t)=f(t,x(t)),t[a,b], (1.5)
    x(a)=0,x(b)=mi=1λix(θi), (1.6)

    where HDα,β;ψ is the ψ-Hilfer fractional derivative of order α, 1<α<2 and parameter β, 0β1, f:[a,b]×RR is a continuous function, a<b, k,λiR,i=1,2,,m and a<θ1<θ2<<θm<b.

    In this paper, motivated by the research going on in this direction, we study a new class of boundary value problems of ψ-Hilfer fractional integro-differential equations with mixed nonlocal boundary conditions of the form

    {HDα,ρ;ψ0+x(t)=f(t,x(t),Iϕ;ψ0+x(t)),t(0,T],x(0)=0,mi=1δix(ηi)+nj=1ωjIβj;ψ0+x(θj)+rk=1λkHDμk,ρ;ψ0+x(ξk)=κ, (1.7)

    where HDu,ρ;ψ0+ is ψ-Hilfer fractional derivatives of order u={α,μk} with 1<μk<α2, 0ρ1, Iv;ψ0+ is ψ-Riemann-Liouville fractional integral of order v={ϕ,βj}, ϕ,βj>0 for j=1,2,,n, κ,δi,ωj,λkR are given constants, the points ηi,θj,ξkJ, i=1,2,,m, j=1,2,,n, k=1,2,,r and f:J×R2R is a given continuous function, and J:=[0,T], T>0. It is imperative to note that the problems addressed in this paper provide more insight into the study of ψ-Hilfer fractional differential equations involving mixed nonlocal boundary conditions. Our results are not only interesting from theoretical point of view, but also helpful in studying the applied problems containing the systems like the ones considered in this paper. Our nonlocal boundary conditions are also useful, since they are the most general mixed type. We emphasize that the mixed nonlocal boundary conditions include multi-point, fractional derivative multi-order and fractional integral multi-order boundary conditions.

    This paper is organized as follows: In Section 2, we present some necessary definitions and preliminaries results that will be used to prove our main results. The existence and uniqueness of the solutions for the problem (1.7) are established in Section 3. Our methodology for obtaining the desired results is standard, but its application in the framework of the present problem is new. In Section 4, we discuss the Ulam's stability of the solutions of the problem (1.7) in the frame of Ulam-Hyers (UH) stability, generalized Ulam-Hyers (UH) stability, Ulam-Hyers-Rassias (UHR) stability and generalized Ulam-Hyers-Rassias (UHR) stability is investigated. Finally, examples are given in Section 5 to illustrate the theoretical results.

    In this section, we introduce some notation, spaces, definitions and fundamental lemmas which are useful throughout this paper.

    Let C=C(J,R) denote the Banach space of all continuous functions from J into R with the norm defined by

    f=suptJ{|f(t)|}.

    On the order hand, we have n-times absolutely continuous functions given by

    ACn(J,R)={f:JR;f(n1)AC(J,R)}.

    Definition 2.1. [2] Let (a,b), (a<b), be a finite or infinite interval of the half-axis R+ and αR+. Also let ψ(x) be an increasing and positive monotone function on (a,b], having a continuous derivative ψ(x) on (a,b). The ψ-Riemann-Liouville fractional integral of a function f with respect to another function ψ on [a,b] is defined by

    Iα;ψa+f(t)=1Γ(α)taψ(s)(ψ(t)ψ(s))α1f(s)ds,t>a>0, (2.1)

    where Γ() is represent the Gamma function.

    Definition 2.2. [2] Let ψ(t)0 and α>0, nN. The Riemann–Liouville derivatives of a function f with respect to another function ψ of order α correspondent to the Riemann–Liouville, is defined by

    Dα;ψa+f(t)=(1ψ(t)ddt)nInα;ψa+f(t)=1Γ(nα)(1ψ(t)ddt)ntaψ(s)(ψ(t)ψ(s))nα1f(s)ds, (2.2)

    where n=[α]+1, [α] is represent the integer part of the real number α.

    Definition 2.3. [18] Let n1<α<n with nN, [a,b] is the interval such that a<b and f,ψCn([a,b],R) two functions such that ψ is increasing and ψ(t)0, for all t[a,b]. The ψ-Hilfer fractional derivative of a function f of order α and type 0ρ1, is defined by

    HDα,ρ;ψa+f(t)=Iρ(nα);ψa+(1ψ(t)ddt)nI(1ρ)(nα);ψa+f(t)=Iγα;ψa+Dγ;ψa+f(t), (2.3)

    where n=[α]+1, [α] represents the integer part of the real number α with γ=α+ρ(nα).

    Lemma 2.4. [2] Let α,β>0. Then we have the following semigroup property given by,

    Iα;ψa+Iβ;ψa+f(t)=Iα+β;ψa+f(t),t>a. (2.4)

    Next, we present the ψ-fractional integral and derivatives of a power function.

    Proposition 2.5. [2,18] Let α0, υ>0 and t>a. Then, ψ-fractional integral and derivative of a power function are given by

    (i) Iα;ψa+(ψ(s)ψ(a))υ1(t)=Γ(υ)Γ(υ+α)(ψ(t)ψ(a))υ+α1.

    (ii) Dα,ρ;ψa+(ψ(s)ψ(a))υ1(t)=Γ(υ)Γ(υα)(ψ(t)ψ(a))υα1.

    (iii) HDα,ρ;ψa+(ψ(s)ψ(a))υ1(t)=Γ(υ)Γ(υα)(ψ(t)ψ(a))υα1,υ>γ=α+ρ(2α).

    Lemma 2.6. Let m1<α<m, n1<β<n, n,mN, nm, 0ρ1 and αβ+ρ(nβ). If hCn(J,R), then

    HDβ,ρ;ψa+Iα;ψa+h(t)=Iαβ;ψa+h(t). (2.5)

    Proof. Let λ=β+ρ(nβ) with n1<λ<n, we get

    HDβ,ρ;ψa+(Iα;ψa+h(t))=Iλβ;ψa+Dλ;ψa+(Iα;ψa+h(t))=Iλβ;ψa+(1ψ(t)ddt)nInλ;ψa+(Iα;ψa+h(t))=Iλβ;ψa+(1ψ(t)ddt)nInλ+α;ψa+h(t).

    By using Definition 2.1, we obtain

    (1ψ(t)ddt)Inλ+α;ψa+h(t)=1ψ(t)ddt(1Γ(nλ+α)taψ(τ)(ψ(t)ψ(τ))n+αλ1h(τ)dτ)=1Γ(nλ+α)1ψ(t)(ta(n+αλ1)ψ(τ)ψ(t)(ψ(t)ψ(τ))n+αλ2h(τ)dτ)=1Γ(nλ+α1)taψ(τ)(ψ(t)ψ(τ))n+αλ2h(τ)dτ=Inλ+α1;ψa+h(t),

    and

    (1ψ(t)ddt)2Inλ+α;ψa+h(t)=1ψ(t)ddt(1Γ(nλ+α1)taψ(τ)(ψ(t)ψ(τ))n+αλ2h(τ)dτ)=1Γ(nλ+α1)1ψ(t)(ta(n+αλ2)ψ(τ)ψ(t)(ψ(t)ψ(τ))n+αλ3h(τ)dτ)=1Γ(nλ+α2)taψ(τ)(ψ(t)ψ(τ))n+αλ3h(τ)dτ=Inλ+α2;ψa+h(t).

    Repeat the above process, we have

    (1ψ(t)ddt)nInλ+α;ψa+h(t)=1ψ(t)ddt(1Γ(αλ)taψ(τ)(ψ(t)ψ(τ))αλ1h(τ)dτ)=1Γ(αλ+1)1ψ(t)(ta(αλ)ψ(τ)ψ(t)(ψ(t)ψ(τ))αλ1h(τ)dτ)=1Γ(λ+α)taψ(τ)(ψ(t)ψ(τ))αλ1h(τ)dτ=Iαλ;ψa+h(t),

    which implies that

    HDβ,ρ;ψa+(Iα;ψa+h(t))=Iλβ;ψa+Iαλ;ψa+h(t)=Iαβ;ψa+h(t).

    This completes the proof.

    Lemma 2.7. [18] If fCn(J,R), n1<α<n, 0ρ1 and γ=α+ρ(nα) then

    Iα;ψa+HDα,ρ;ψa+f(t)=f(t)nk=1(ψ(t)ψ(a))γkΓ(γk+1)f[nk]ψI(1ρ)(nα);ψa+f(a), (2.6)

    for all tJ, where f[n]ψf(t):=(1ψ(t)ddt)nf(t).

    Fixed point theorems play a major role in establishing the existence theory for the problem (1.7). We collect here some well-known fixed point theorems used in this paper.

    Lemma 2.8. (Banach contraction principle [32]). Let D be a non-empty closed subset of a Banach space E. Then any contraction mapping T from D into itself has a unique fixed point.

    Lemma 2.9. (Krasnosel'skii's fixed point theorem [33]). Let M be a closed, bounded, convex, and nonempty subset of a Banach space. Let A,B be the operators such that (i) Ax+ByM whenever x, yM; (ii) A is compact and continuous; (iii) B is contraction mapping. Then there exists zM such that z=Az+bz.

    Lemma 2.10. (Leray-Schauder nonlinear alternative [32]). Let E be a Banach space, C a closed, convex subset of E,U an open subset of C and 0U. Suppose that D:¯UC is a continuous, compact (that is, D(¯U) is a relatively compact subset of C) map. Then either

    (i) D has a fixed point in ¯U, or

    (ii) there is a xU (the boundary of U in C) and ν(0,1) with x=νD(x).

    In order to transform the problem (1.7) into a fixed point problem, we must convert it into an equivalent Voltera integral equation. We provide the following auxiliary lemma, which is important in our main results and concern a linear variant of the boundary value problem (1.7).

    Lemma 2.11. Let 1<μk<α2, 0ρ1, γ=α+ρ(2α), k=1,2,,r and Ω0. Suppose that hC. Then xC2 is a solution of the problem

    {HDα,ρ;ψ0+x(t)=h(t),t(0,T],x(0)=0,mi=1δix(ηi)+nj=1ωjIβj;ψ0+x(θj)+rk=1λkHDμk,ρ;ψ0+x(ξk)=κ, (2.7)

    if and only if x satisfies the integral equation

    x(t)=Iα;ψ0+h(t)+(ψ(t)ψ(0))γ1ΩΓ(γ)[κ(mi=1δiIα;ψ0+h(ηi)+nj=1ωjIα+βj;ψ0+h(s)(θj)+rk=1λkIαμk;ψ0+h(s)(ξk))], (2.8)

    where

    Ω=mi=1δi(ψ(ηi)ψ(0))γ1Γ(γ)+nj=1ωj(ψ(θj)ψ(0))γ+βj1Γ(γ+βj)+rk=1λk(ψ(ξk)ψ(0))γμk1Γ(γμk). (2.9)

    Proof. Let xC be a solution of the problem (1.7). By using Lemma 2.7, we have

    x(t)=Iα;ψ0+h(t)+(ψ(t)ψ(0))γ1Γ(γ)c1+(ψ(t)ψ(0))γ2Γ(γ1)c2, (2.10)

    where c1,c2R are arbitrary constants.

    For t=0, we get c2=0, and thus

    x(t)=Iα;ψ0+h(t)+(ψ(t)ψ(0))γ1Γ(γ)c1. (2.11)

    Taking the operators HDμk,ρ;ψ0+ and Iβj;ψ0+ into (2.10), we obtain

    HDμk,ρ;ψ0+x(t)=Iαμk;ψ0+h(t)+(ψ(t)ψ(0))γμk1Γ(γμk)c1,Iβj;ψ0+x(t)=Iα+βj;ψ0+h(t)+(ψ(t)ψ(0))γ+βj1Γ(γ+βj)c1.

    Applying the second boundary condition in (1.7), we have

    c1[mi=1δi(ψ(ηi)ψ(0))γ1Γ(γ)+nj=1ωj(ψ(θj)ψ(0))γ+βj1Γ(γ+βj)+rk=1λk(ψ(ξk)ψ(0))γμk1Γ(γμk)]+mi=1δiIα;ψ0+h(ηi)+nj=1ωjIα+βj;ψ0+h(θj)+rk=1λkIαμk;ψ0+h(ξk)=κ,

    from which we get

    c1=1Ω[κ(mi=1δiIα;ψ0+h(ηi)+nj=1ωjIα+βj;ψ0+h(θj)+rk=1λkIαμk;ψ0+h(ξk))],

    where Ω is defined by (2.9). Substituting the value of c1 in (2.11), we obtain (2.8).

    Conversely, it is easily to shown, by a direct calculation, that the solution x given by (2.8) satisfies the problem (2.7). The Lemma 2.11 is proved.

    In this section, we present existence and uniqueness results to the considered problem (1.7).

    For the sake of convenience, we use the following notations:

    A(χ,ε)=(ψ(χ)ψ(0))εΓ(ε+1), (3.1)
    Λ0=1+A(T,ϕ), (3.2)
    Λ1=A(T,α)+A(T,γ1)|Ω|(mi=1|δi|A(ηi,α)+nj=1|ωj|A(θj,α+βj)+rk=1|λk|A(ξk,αμk)). (3.3)

    In view of Lemma 2.11, an operator Q:CC is defined by

    (Qx)(t)=Iα;ψ0+Fx(s)(t)+A(t,γ1)Ω[κ(mi=1δiIα;ψ0+Fx(s)(ηi)+nj=1ωjIα+βj;ψ0+Fx(s)(θj)+rk=1λkIαμk;ψ0+Fx(s)(ξk))], (3.4)

    where

    Fx(t)=f(t,x(t),Iϕ;ψ0+x(t)),tJ.

    Throughout this paper, the expression Iq,ρ0+Fx(s)(c) means that

    Iu;ψ0+Fx(s)(c)=1Γ(u)c0ψ(s)(ψ(c)ψ(s))u1Fx(s)ds,

    where u={ϕ,βj} and c={t,σ,θj}, j=1,2,,n.

    It should be noticed that the problem (1.7) has solutions if and only if the operator Q has fixed points.

    In the first result, we establish the existence and uniqueness of solutions for the problem (1.7), by applying Banach's fixed point theorem.

    Theorem 3.1. Assume that f:J×R2R is a continuous function such that:

    (H1) there exist a constant L1>0 such that

    |f(t,u1,v1)f(t,u2,v2)|L1(|u1u2|+|v1v2|)

    for any ui, viR, i=1,2 and tJ.

    If

    Λ0Λ1L1<1, (3.5)

    where Λ0 and Λ1 are given by (3.2) and (3.3) respectively, then the problem (1.7) has a unique solution on J.

    Proof. Firstly, we transform the problem (1.7) into a fixed point problem, x=Qx, where the operator Q is defined as in (3.4). Applying the Banach contraction mapping principle, we shall show that the operator Q has a unique fixed point, which is the unique solution of the problem (1.7)

    Let suptJ|f(t,0,0)|:=M1<. Next, we set Br1:={xC:xr1} with

    r1Λ1M1+(|κ|A(T,γ1))/|Ω|1Λ0Λ1L1, (3.6)

    where Ω, A(T,γ1), Λ0, Λ1 are given by (2.9), (3.1)–(3.3), respectively. Observe that Br1 is a bounded, closed, and convex subset of C. The proof is divided into two steps:

    Step I. We show that QBr1Br1.

    For any xBr1, we have

    |(Qx)(t)|Iα;ψ0+|Fx(s)|(T)+A(T,γ1)|Ω|(|κ|+mi=1|δi|Iα;ψ0+|Fx(s)|(ηi)+nj=1|ωj|Iα+βj;ψ0+|Fx(s)|(θj)+rk=1|λk|Iαμk;ψ0+|Fx(s)|(ξk)).

    We note that

    Iϕ;ψ0+|x(τ)|(s)=1Γ(ϕ)s0ψ(τ)(ψ(s)ψ(τ))ϕ1|x(τ)|dτA(s,ϕ)x.

    It follows from conditions (H1) that

    |Fx(t)||f(t,x(t),Iϕ;ψ0+x(s)(t))f(t,0,0)|+|f(t,0,0)|L1(|x(t)|+Iϕ;ψ0+|x(s)|(t))+M1,L1(1+(ψ(T)ψ(0))ϕΓ(ϕ+1))x+M1=L1[1+A(T,ϕ)]x+M1=L1Λ0x+M1.

    Then we have

    |(Qx)(t)|(L1Λ0x+M1)(ψ(T)ψ(0))αΓ(α+1)+A(T,γ1)|Ω|[|κ|+(L1Λ0x+M1)(mi=1|δi|(ψ(ηi)ψ(0))αΓ(α+1)+nj=1|ωj|(ψ(θj)ψ(0))α+βjΓ(α+βj+1)+rk=1|λk|(ψ(ξk)ψ(0))αμkΓ(αμk+1))]=L1Λ0[A(T,α)+A(T,γ1)|Ω|(mi=1|δi|A(ηi,α)+nj=1|ωj|A(θj,α+βj)+rk=1|λk|A(ξk,αμk))]x+[A(T,α)+A(T,γ1)|Ω|(mi=1|δi|A(ηi,α)+nj=1|ωj|A(θj,α+βj)+rk=1|λk|A(ξk,αμk))]M1+|κ|A(T,γ1)|Ω|Λ0Λ1L1r1+Λ1M1+|κ|A(T,γ1)|Ω|r1,

    which implies that QBr1Br1.

    Step II. We show that Q:CC is a contraction.

    For any x, yC and for each tJ, we have

    |(Qx)(t)(Qy)(t)|Iα;ψ0+|Fx(s)Fy(s)|(T)+A(T,γ1)|Ω|(mi=1|δi|Iα;ψ0+|Fx(s)Fy(s)|(ηi)+nj=1|ωj|Iα+βj;ψ0+|Fx(s)Fy(s)|(θj)+rk=1|λk|Iαμk;ψ0+|Fx(s)Fy(s)|(ξk)){(ψ(T)ψ(0))αΓ(α+1)+A(T,γ1)|Ω|(mi=1|δi|(ψ(ηi)ψ(0))αΓ(α+1)+nj=1|ωj|(ψ(θj)ψ(0))α+βjΓ(α+βj+1)+rk=1|λk|(ψ(ξk)ψ(0))αμkΓ(αμk+1))}L1Λ0xy={A(T,α)+A(T,γ1)|Ω|(mi=1|δi|A(ηi,α)+nj=1|ωj|A(θj,α+βj)+rk=1|λk|A(ξk,αμk))}L1Λ0xy=Λ0Λ1L1xy,

    which implies that QxQyΛ0Λ1L1xy. As Λ0Λ1L1<1, hence, the operator Q is a contraction. Therefore, by the Banach contraction mapping principle (Lemma 2.8) the operator Q has a fixed point, and hence the problem (1.7) has a unique solution on J. The proof is completed.

    Next, we present an existence theorem by using Krasnosel'skii's fixed point theorem.

    Theorem 3.2. Assume that f:J×R2R is a continuous function satisfying (H1). In addition, we assume that:

    (H2) |f(t,u,v)|σ(t), (t,u,v)J×R2, and σC(J,R+).

    If

    L1Λ0[Λ1A(T,α)]<1, (3.7)

    where Λ0, Λ1, A(T,α) are defined by (3.2), (3.3) and (3.1), respectively, then the problem (1.7) has at least one solution on J.

    Proof. Let suptJ|σ(t)|=σ and Br2:={xC:xr2}, where

    r2σΛ1+|κ|A(T,γ1)|Ω|.

    We define the operators Q1 and Q2 on Br2 by

    (Q1x)(t)=Iα;ψ0+Fx(s)(t),tJ,(Q2x)(t)=A(t,γ1)Ω[κ(mi=1δiIα;ψ0+Fx(s)(ηi)+nj=1ωjIα+βj;ψ0+Fx(s)(θj)+rk=1λkIαμk;ψ0+Fx(s)(ξk))],tJ.

    Note that Q=Q1+Q2. For any x,yBr2, we have

    |(Q1x)(t)+(Q2y)(t)|suptJ{Iα;ψ0+|Fx(s)|(t)+A(t,γ1)|Ω|(|κ|+mi=1|δi|Iα;ψ0+|Fy(s)|(ηi)+nj=1|ωj|Iα+βj;ψ0+|Fy(s)|(θj)+rk=1|λk|Iαμk;ψ0+|Fy(s)|(ξk))}σ{A(T,α)+A(T,γ1)|Ω|(mi=1|δi|A(ηi,α)+nj=1|ωj|A(θj,α+βj)+rk=1|λk|A(ξk,αμk))}+|κ|A(T,γ1)|Ω|σΛ1+|κ|A(T,γ1)|Ω|r2.

    This implies that Q1x+Q2xBr2, which satisfies the assumption (i) of Lemma 2.9.

    We show that the assumption (ii) of Lemma 2.9 is satisfied.

    Let xn be a sequence such that xnx in C. Then for each tJ, we have

    |(Q1xn)(t)(Q1x)(t)|Iα;ψ0+|Fxn(s)Fx(s)|(T)A(T,α)FxnFx.

    Since f is continuous, this implies that the operator Fx is also continuous. Hence, we obtain

    FxnFx0asn.

    Thus, this shows that the operator Q1x is continuous. Also, the set Q1Br2 is uniformly bounded on Br2 as

    Q1xA(T,α)σ.

    Next, we prove the compactness of the operator Q1. Let sup(t,u,v)J×B2r2|f(t,u,v)|=ˆf<, then for each t1,t2J with 0t1<t2T, we obtain

    |(Q1x)(t2)(Q1x)(t1)|=1Γ(α)|t10ψ(s)[(ψ(t2)ψ(s))α1(ψ(t1)ψ(s))α1]Fx(s)ds+t2t1ψ(s)(ψ(t2)ψ(s))α1Fx(s)ds|ˆfΓ(α+1)[2(ψ(t2)ψ(t1))α+|(ψ(t2)ψ(0))α(ψ(t1)ψ(0))α|].

    Obviously, the right hand side in the above inequality is independent of x and tends to zero as t2t1. Therefore, the operator Q1 is equicontinuous. So Q1 is relatively compact on Br2. Then, by the Arzelá-Ascoli theorem, Q1 is compact on Br2.

    Moreover, it is easy to prove, using condition (3.7), that the operator Q2 is a contraction and thus the assumption (iii) of Lemma 2.9 holds. Thus all the assumptions of Lemma 2.9 are satisfied. So the conclusion of Lemma 2.9 implies that the problem (1.7) has at least one solution on J. The proof is completed.

    The Leray-Schauder's nonlinear alternative [32] is used to prove our last existence result.

    Theorem 3.3. Assume that:

    (H3) there exist a function qC(J,R+) and a continuous nondecreasing function Φ:[0,)[0,) which is subhomogeneous (that is, Φ(μx)μΦ(x), for all μ1 and xC), such that

    |f(t,u,v)|q(t)Φ(|u|+|v|)for each(t,u,v)J×R2;

    (H4) there exist a constant M2>0 such that

    M2Λ0Λ1Φ(M2)q+(|κ|A(T,γ1))/|Ω|>1,

    with Ω, A(T,α) Λ0 and Λ1 by (2.9), (3.1), (3.2) and (3.3).

    Then, the problem (1.7) has at least one solution on J.

    Proof. Let the operator Q be defined by (3.4). Firstly, we show that Q maps bounded sets (balls) into bounded set in C. For a constant r3>0, let Br3={xC:xr3} be a bounded ball in C. Then, for tJ, we obtain

    |(Qx)(t)|suptJ{Iα;ψ0+|Fx(s)|(t)+A(t,γ1)|Ω|(|κ|+mi=1|δi|Iα;ψ0+|Fx(s)|(ηi)+nj=1|ωj|Iα+βj;ψ0+|Fx(s)|(θj)+rk=1|λk|Iαμk;ψ0+|Fx(s)|(ξk))}qΦ{(1+(ψ(T)ψ(0))ϕΓ(ϕ+1))x}{Iα;ψ0+(1)(T)+A(T,γ1)|Ω|×(mi=1|δi|Iα;ψ0+(1)(ηi)+nj=1|ωj|Iα+βj;ψ0+(1)(θj)+rk=1|λk|Iαμk;ψ0+(1)(ξk))}+|κ|(ψ(T)ψ(0))γ1|Ω|Γ(γ)=qΦ(Λ0x){A(T,α)+A(T,γ1)|Ω|(mi=1|δi|A(ηi,α)+nj=1|ωj|A(θj,α+βj)+rk=1|λk|A(ξk,αμk))}+|κ|A(T,γ1)|Ω|Λ0Λ1Φ(x)q+|κ|A(T,γ1)|Ω|.

    Consequently

    Qx||Λ0Λ1Φ(r3)q+|κ|A(T,γ1)|Ω|.

    Next, we show that the operator Q maps bounded sets into equicontinuous sets of C. Let t1,t2J with t1<t2 and xBr3. Then we get

    |(Qx)(t2)(Qx)(t1)|1Γ(α)|t10ψ(s)[(ψ(t2)ψ(s))α1(ψ(t1)ψ(s))α1]Fx(s)ds+t2t1ψ(s)(ψ(t2)ψ(s))α1Fx(s)ds|+(ψ(t2)ψ(0))γ1(ψ(t1)ψ(0))γ1|Ω|Γ(γ)(|κ|+mi=1|δi|Iα;ψ0+|Fx(s)|(ηi)+nj=1|ωj|Iα+βj;ψ0+|Fx(s)|(θj)+rk=1|λk|Iαμk;ψ0+|Fx(s)|(ξk))Λ0Φ(r3)qΓ(α+1)[2(ψ(t2)ψ(t1))α+|(ψ(t2)ψ(0))α(ψ(t1)ψ(0))α|]+|κ|+Λ0Λ1Φ(r3)q|Ω|Γ(γ)|(ψ(t2)ψ(0))γ1(ψ(t1)ψ(0))γ1|. (3.8)

    As t2t10, the right hand side of (3.8) tends to zero independently of xBr3. Hence, by the Arzelá-Ascoli theorem, the operator Q is completely continuous.

    The result will follow from the Leray-Schauder's nonlinear alternative once we have proved the boundedness of the set of all solutions to the equations x=ϱQx for ϱ(0,1).

    Let x be a solution. Then, for tJ, and following calculations similar to the first step, we obtain

    |x(t)|=|ϱ(Qx)(t)|Λ0Λ1Φ(x)q+|κ|A(T,γ1)|Ω|,

    which leads to

    xΛ0Λ1Φ(x)q+(|κ|A(T,γ1))/|Ω|1.

    In view of (H4), there exists a constant M2>0 such that xM2. Let us set

    K:={xC:x<M2}.

    We see that the operator Q:¯KC is continuous and completely continuous. From the choice of ¯K, there is no xK such that x=ϱQx for some ϱ(0,1). Consequently, by the nonlinear alternative of Leray-Schauder type (Lemma 2.10), we deduce that the operator Q has a fixed point x¯K which is a solution of the problem (1.7). The proof is completed.

    In this section, we are developing some results on the different types of Ulam's stability such as Ulam-Hyers (UH), generalized Ulam-Hyers (UH), Ulam-Hyers-Rassias (UHR) and generalized Ulam-Hyers-Rassias (UHR) stability for the proposed problem (1.7).

    We start with needed definitions. Let ϵ>0 be a positive real number and Θ:JR+ be a continuous function. We consider the following inequalities:

    |HDα,ρ;ψ0+z(t)f(t,z(t),Iϕ;ψ0+z(t))|ϵ, (4.1)
    |HDα,ρ;ψ0+z(t)f(t,z(t),Iϕ;ψ0+z(t))|ϵΘ(t), (4.2)
    |HDα,ρ;ψ0+z(t)f(t,z(t),Iϕ;ψ0+z(t))|Θ(t). (4.3)

    Definition 4.1. [34] The problem (1.7) is said to be UH stable if there exists a real number Mf>0 such that for each ϵ>0 and for each solution zC of the inequality (4.1), there exists a solution xC of the problem (1.7) with

    |z(t)x(t)|Mfϵ,tJ. (4.4)

    Definition 4.2. [34] The problem (1.7) is said to be generalized UH stable if there exists a function ΘC(R+,R+) with Θ(0)=0 such that, for each solution zC of inequality (4.2), there exists a solution xC of the problem (1.7) with

    |z(t)x(t)|Θ(ϵ),tJ. (4.5)

    Definition 4.3. [34] The problem (1.7) is said to be UHR stable with respect to ΘC(J,R+) if there exists a real number Mf,Θ>0 such that for each ϵ>0 and for each solution zC of the inequality (4.2) there exists a solution xC of the problem (1.7) with

    |z(t)x(t)|Mf,ΘϵΘ(t),tJ. (4.6)

    Definition 4.4. [34] The problem (1.7) is said to be generalized UHR stable with respect to ΘC(J,R+) if there exists a real number Mf,Θ>0 such that for each solution zC of the inequality (4.3), there exists a solution xC of the problem (1.7) with

    |z(t)x(t)|Mf,ΘΘ(t),tJ. (4.7)

    Remark 4.5. It is clear that (i) Definition 4.1 Definition 4.2; (ii) Definition 4.3 Definition 4.4; (iii) Definition 4.3 for Θ(t)=1 Definition 4.1.

    Remark 4.6. A function zC(J,R) is a solution of the inequality (4.1) if and only if there exists a function wC(J,R) (which depends on z) such that:

    (i) |w(t)|ϵ, tJ.

    (ii) HDα,ρ;ψ0+z(t)=Fz(t)+w(t), tJ.

    Remark 4.7. A function zC is a solution of the inequality (4.2) if and only if there exists a function vC (which depends on z) such that:

    (i) |v(t)|ϵΘ(t), tJ.

    (ii) HDα,ρ;ψ0+z(t)=Fz(t)+v(t), tJ.

    Firstly, we present an important lemma that will be used in the proofs of UH stability and GUH stability.

    Lemma 4.8. Let α(1,2], ρ[0,1). If zC is a solution of the inequality (4.1), then z is a solution of the following inequality

    |z(t)RzIα;ψ0+Fz(s)(t)|Λ1ϵ, (4.8)

    where

    Rz=A(t,γ1)Ω[κmi=1δiIα;ψ0+Fz(s)(ηi)nj=1ωjIα+βj;ψ0+Fz(s)(θj)rk=1λkIαμk;ψ0+Fz(s)(ξk)],

    and Λ1 is given by (3.3).

    Proof. Let z be a solution of the inequality (4.1). So, in view of Remark 4.6 (ii) and Lemma 2.11, we have

    {HDα,ρ;ψ0+z(s)(t)=Fz(t)+w(t),t(0,T],z(0)=0,mi=1δiz(ηi)+nj=1ωjIβj;ψ0+z(s)(θj)+rk=1λkHDμk,ρ;ψ0+z(s)(ξk)=κ. (4.9)

    Thus, the solution of (4.9) will be in the following term

    z(t)=Iα;ψ0+Fz(s)(t)+A(t,γ1)Ω(κmi=1δiIα;ψ0+Fz(ηi)nj=1ωjIα+βj;ψ0+Fz(θj)rk=1λkIαμk;ψ0+Fz(ξk))+Iα;ψ0+w(s)(t)A(t,γ1)Ω(mi=1δiIα;ψ0+w(s)(ηi)+nj=1ωjIα+βj;ψ0+w(s)(θj)+rk=1λkIαμk;ψ0+w(s)(ξk)).

    Then, by using Remark 4.6 (i), it follows that

    |z(t)RzIα;ψ0+Fz(s)(t)|=|Iα;ψ0+w(s)(t)A(t,γ1)Ω(mi=1δiIα;ψ0+w(s)(ηi)+nj=1ωjIα+βj;ψ0+w(s)(θj)+rk=1λkIαμk;ψ0+w(s)(ξk))|[A(T,α)+A(T,γ1)|Ω|(mi=1|δi|A(ηi,α)+nj=1|ωj|A(θj,α+βj)+rk=1|λk|A(ξk,αμk))]ϵ=Λ1ϵ,

    from which inequality (4.8) is obtained. The proof is completed.

    Now, we prove UH stability and generalized UH stability results for the problem (1.7).

    Theorem 4.9. Assume that the function f:J×R2R is continuous and (H1) holds with Λ0A(T,α)L1<1. Then the problem (1.7) is UH stable on J and consequently generalized UH stable.

    Proof. Let ϵ>0 and zC be any solution of the inequality (4.1). Let xC be the unique solution of the following problem (1.7)

    {HDα,ρ;ψ0+x(s)(t)=Fx(t),t(0,T],x(0)=0,mi=1δix(ηi)+nj=1ωjIβj;ψ0+x(s)(θj)+rk=1λkHDμk,ρ;ψ0+x(s)(ξk)=κ.

    Using Lemma 2.11, we obtain

    x(t)=Rx+Iα;ψ0+Fx(s)(t),

    where

    Rx=A(t,γ1)Ω(κmi=1δiIα;ψ0+Fx(s)(ηi)nj=1ωjIα+βj;ψ0+Fx(s)(θj)rk=1λkIαμk;ψ0+Fx(ξk)).

    On the other hand, if x(0)=z(0), x(ηi)=z(ηi), Iβj;ψ0+x(s)(θj)=Iβj;ψ0+z(s)(θj) and HDμk,ρ;ψ0+x(s)(ξk)=HDμk,ρ;ψ0+z(s)(ξk), then Rx=Rz. Indeed, we have

    |RxRz|A(t,γ1)|Ω|(mi=1|δi|Iα;ψ0+|Fx(s)Fz(s)|(ηi)+nj=1|ωj|Iα+βj;ψ0+|Fx(s)Fz(s)|(θj)+rk=1|λk|Iαμk;ψ0+|Fx(s)Fz(s)|(ξk))A(t,γ1)|Ω|(mi=1|δi|Iα;ψ0+|x(s)z(s)|(ηi)+nj=1|ωj|Iα+βj;ψ0+|x(s)z(s)|(θj)+rk=1|λk|Iαμk;ψ0+|x(s)z(s)|(ξk))Λ0Λ1L1=0.

    Thus Rx=Rz. Now, by applying the triangle inequality, |uv||u|+|v|, and Lemma 4.8, for any tJ, we have

    |z(t)x(t)||z(t)RxIα;ψ0+Fx(s)(t)||z(t)RzIα;ψ0+Fz(s)(t)|+Iα;ψ0+|Fz(s)Fx(s)|(t)+|RzRx|Λ1ϵ+Λ0A(T,α)L1|z(t)x(t)|.

    This implies that

    |z(t)x(t)|Λ11Λ0A(T,α)L1ϵ.

    By setting

    Mf=Λ11Λ0A(T,α)L1,

    we obtain

    |z(t)x(t)|Mfϵ.

    Hence, the problem (1.7) is UH stable. Further, if we set Θ(ϵ)=Mfϵ and Θ(0)=0 we have

    |z(t)x(t)|Θ(ϵ),

    which implies that the solution of the problem (1.7) is generalized UH stable. The proof is completed.

    For the proof of our next lemma, we assume the following assumption:

    (H3) There exists an increasing function ΘC(J,R+) and there exists nΘ>0, such that, for any tJ, the following integral inequality

    Iα;ψ0+Θ(t)nΘΘ(t). (4.10)

    Next, we present an important lemma that will be used in the proofs of UHR and generalized UHR stability results.

    Lemma 4.10. Let α(1,2], ρ[0,1]. If zC is a solution of the inequality (4.2), then z is a solution of the following inequality

    |z(t)RzIα;ψ0+Fz(s)(t)|Λ2ϵnΘΘ(t), (4.11)

    where

    Λ2=1+A(T,γ1)|Ω|(mi=1|δi|+nj=1|ωj|+rk=1|λk|). (4.12)

    Proof. Let z be a solution of the inequality (4.2). So, in view of Remark 4.7 (ii) and Lemma 2.11, the solution of (4.9) can be written by

    z(t)=Iα;ψ0+Fz(s)(t)+A(t,γ1)Ω(κmi=1δiIα;ψ0+Fz(s)(ηi)nj=1ωjIα+βj;ψ0+Fz(s)(θj)rk=1λkIαμk;ψ0+Fz(s)(ξk))+Iα;ψ0+v(s)(t)A(t,γ1)Ω(mi=1δiIα;ψ0+v(s)(ηi)+nj=1ωjIα+βj;ψ0+v(s)(θj)+rk=1λkIαμk;ψ0+v(s)(ξk)).

    Then, by using Remark 4.7 (i) with (H3), we have the following estimation

    |z(t)RzIα;ψ0+Fz(s)(t)|=|Iα;ψ0+v(s)(t)A(t,γ1)Ω(mi=1δiIα;ψ0+v(s)(ηi)+nj=1ωjIα+βj;ψ0+v(s)(θj)+rk=1λkIαμk;ψ0+v(s)(ξk))|[1+A(T,γ1)|Ω|(mi=1|δi|+nj=1|ωj|+rk=1|λk|)]ϵnΘΘ(t)=Λ2ϵnΘΘ(t),

    from which inequality (4.11) is obtained. The proof is completed.

    Finally, we present UHR and generalized UHR stability results for the problem (1.7).

    Theorem 4.11. Assume that the function f:J×R2R is continuous and (H1) holds. Then the problem (1.7) is UHR stable on J and consequently generalized UHR stable.

    Proof. Let ϵ>0 and zC be the solution of the inequality (4.3). Let xC be the unique solution of the problem (1.7). By using Lemma 2.11, we obtain

    x(t)=Rx+Iα;ψ0+Fx(s)(t),

    where

    Rx=A(t,γ1)Ω(κmi=1δiIα;ψ0+Fx(s)(ηi)nj=1ωjIα+βj;ψ0+Fx(s)(θj)rk=1λkIαμk;ψ0+Fx(s)(ξk)).

    On the other hand, if x(0)=z(0), x(ηi)=z(ηi), Iβj;ψ0+x(s)(θj)=Iβj;ψ0+z(s)(θj) and HDμk,ρ;ψ0+x(s)(ξk)=HDμk,ρ;ψ0+z(s)(ξk), then it is easy to see that Rx=Rz.

    Now, by appying |uv||u|+|v| and Lemma 4.10, for any tJ, we have

    |z(t)x(t)||z(t)RxIα;ψ0+Fx(s)(t)||z(t)RzIα;ψ0+Fz(s)(t)|+Iα;ψ0+|Fz(s)Fx(s)|(t)+|RzRx|Λ2ϵnΘΘ(t)+Λ0A(T,α)L1|z(t)x(t)|

    This implies that

    |z(t)x(t)|Λ2nΘ1Λ0A(T,α)L1ϵΘ(t).

    By setting

    Mf,Θ=Λ2nΘ1Λ0A(T,α)L1,

    we obtain

    |z(t)x(t)|Mf,ΘϵΘ(t).

    Therefore, the problem (1.7) is UHR stable. Further, in the same fashion, it is easy to check that the solution of the problem (1.7) is generalized UHR stable. This completes the proof.

    This section presents some examples which illustrate the validity and applicability of our main results.

    Example 5.1. Consider the following mixed nonlocal boundary problem of the form:

    {HD85,14;et20+x(t)=f(t,x(t),I13;et20+x(t)),t(0,1],x(0)=0,3i=1(ii+5)i+1x(i3)+2j=1(j+1j+2)Ij3;et20+x(j2)+4k=1(kk+2)kHDk+88,14;et20+x(k4)=12. (5.1)

    Here α=8/5, ρ=1/4, ϕ=1/3, T=1, κ=1/2, m=3, n=2, r=4, δi=((i)/(i+5))(i+1), ωj=(j+1)/(j+2), λk=((k)/(k+2))k, ηi=i/3, θj=j/2, ξk=k/4, βj=j/3, μk=(k+8)/8 for i=1,2,3, j=1,2 and k=1,2,3,4. From the given all data, we obtain that Ω0.53775474710, Λ01.96941831, Λ12.131548185 and Λ26.661728461.

    (I) Consider the function

    f(t,x(t),I13;et20+x(t)):=t2+1(3sin2πt)2|x(t)|2+|x(t)|+(2t1)|I13;et20+x(t)|9+|I13;et20+x(t)|. (5.2)

    For x1, x2, y1, y2R and t[0,1], we have

    |f(t,x1,y1)f(t,x2,y2)|19(|x1x2|+|y1y2|).

    The assumptions (H1) is satisfied with L1=1/9. Hence

    Λ0Λ1L10.4664344471<1.

    Since, all the assumptions of Theorem 3.1 are satisfied, then the problem (5.1) has a unique solution on [0,1]. Further, we can also compute that

    Mf=Λ11Λ0A(T,α)L12.30834181>1.

    Therefore, by Theorem 4.9, the problem (5.1) is both UH and generalized UH stable on [0.1]. In addition, by setting Θ(t)=ψ(t)ψ(0) with Proposition 2.5 (i), it is easy to calculate that

    Iα;ψ0+Θ(t)=1Γ(72)(ψ(t)ψ(0))52Θ(t)4(e0.51)5215πΘ(t).

    Thus, the inequality (4.10) is satisfied with nΘ=4(e0.51)5215π>0. It follows that

    Mf,Θ=Λ2nΘ1Λ0A(T,α)L10.3679010534>0.

    Hence, by Theorem 4.11, the problem (5.1), with f given by (5.2), is both UHR and also generalized UHR stable on [0.1].

    (II) Consider the function

    f(t,x(t),I13;et20+x(t)):=et+tan1|x(t)|4+t+2sin|x(t)|4+t|I13;et20+x(t)|2+|I13;et20+x(t)|. (5.3)

    For x1, x2, y1, y2R and t[0,1], we have

    |f(t,x1,y1)f(t,x2,y2)|14+t(|x1x2|+|y1y2|)14(|x1x2|+|y1y2|).

    This means that the assumption (H1) is satisfied with L1=1/4. We obtain

    L1Λ0(Λ1A(T,α))0.8771522228<1,

    and

    |f(t,x,y)|et+14+t(π2+1),

    which satisfy (3.7) and (H2), respectively. Using the Theorem 3.2, the problem (5.1), with f given by (5.3), has at least one solution on [0,1]

    (III) Consider the function

    f(t,x(t),I13;et20+x(t)):=et(4+t)2(|x5(t)|1+x4(t)+I13;et20+x6(t)1+|I13;et20+x5(t)|+1). (5.4)

    Also, the nonlinear function can be expressed as

    |f(t,x,y)|et(4+t)2(|x|+|y|+1).

    By (H3), we set q(t)=et/(4+t)2 and Φ(u)=u+1, then q=1/16 and Φ(|x|+|y|)=|x|+|y|+1. Thus, we can compute that there exists a constant M2>1.527092217 satisfying inequality in (H4). Therefore, all conditions in Theorem 3.3 are fulfilled. Thus the problem (5.1) with f given by (5.4) has at least one solution on [0,1].

    This paper discussed a new class of ψ-Hilfer fractional integro-differential equation supplemented with mixed nonlocal boundary condition which is a combination of multi-point, fractional derivative multi-order and fractional integral multi-order boundary conditions. Existence and uniqueness results are established. The uniqueness result is proved by applying the Banach's fixed point theorem, while the existence results are investigated via Krasnosel'skii's fixed point theorem and Larey-Schauder nonlinear alternative. Our results are not only new in the given setting but also provide some new special cases by fixing the parameters involved in the problem at hand. For instance, by fixing ωj=0,λk=0 for all j=1,2,,n,k=1,2,,r our results correspond to the ones for boundary value problems for ψ-Hilfer nonlinear fractional integro-differential equations supplemented with multi-point boundary conditions. In case we take δi=0,λk=0 for all i=1,2,,m,k=1,2,,r we obtain the results for boundary value problems for ψ-Hilfer nonlinear fractional integro-differential equations equipped with multi-term integral boundary conditions. Further, we studied different kinds of Ulam's stability such as UH, generalized UH, UHR and generalized UHR stability. In the end, we present examples to demonstrate the consistency to the theoretical findings.

    The work accomplished in this paper is new and enrich the literature on boundary value problems for nonlinear ψ-Hilfer fractional differential equations.

    The first author would like to thank King Mongkut's University of Technology North Bangkok and the Center of Excellence in Mathematics (CEM), CHE, Sri Ayutthaya Rd., Bangkok, 10400, Thailand for support this work. The second author would like to thank for funding this work through the Center of Excellence in Mathematics (CEM), CHE, Sri Ayutthaya Rd., Bangkok, 10400, Thailand and Barapha University.

    On behalf of all authors, the corresponding author states that there is no conflict of interest.



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