Citation: Adnan Khaliq, Mujeeb ur Rehman. Fixed point theorem combined with variational methods for a class of nonlinear impulsive fractional problems with derivative dependence[J]. AIMS Mathematics, 2021, 6(2): 1943-1953. doi: 10.3934/math.2021118
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Fractional calculus gives generalization to the classical calculus from integer order to an arbitrary order which may be complex or real. Fractional calculus has become most notable and important part of mathematics which provides useful mathematical structures for the physical and biological phenomena, engineering mathematical models etc. To know about the developments in the theory of fractional calculus along with its applications, one can refer to [1,2,3,4,5,6,7] and the references there in.
The mathematical modeling of a process in which impulsive conditions (sudden discontinuous jumps) appear is done by using impulsive differential equations. Normally such processes are found in the field of biology, engineering and physics. The mathematical model of the population dynamics, drug administration and aircraft control are some examples of impulsive differential equations [8,9,10,11]. Because of their more importance, recently differential equations with impulsive effects of fractional order have gain a lot of contemplation of the researchers. For both linear and nonlinear impulsive fractional differential equations, the multiplicity and existence theory of their solutions is broadly discussed by using different tools such as Morse theory, measure of noncompactness, method of upper and lower solutions and fixed point theorems [12,13,14,15,16,17]. But these useful techniques are not appropriate and difficult to apply for that problems in which the corresponding integral equation can not be found easily e.g. when both right and left derivatives of fractional order are there in the problem. Such problems can easily be investigated by using another useful approach: variational techniques and the critical point theory. A pioneer work in this direction was that of Jiao and Zhou [18], who implemented the approach for a class of fractional differential equations. Whereas for a class of impulsive second order differential equations, considerable contributions are made by Nieto and O'Regan [19]. Later on, many authors used the critical point theory combined with variational approach to deal with the existence of solution to nonlinear and linear fractional impulsive differential equations [21,22,23,24,25,26,27]. Also variational methods along with semi-inverse methods for the establishment of variational formulation are widely used [28,29,30].
Recently Nieto and Uzal [20] discussed a class of impulsive differential equations of 2nd order in which nonlinearity is due to derivative dependence, where the existence of at least one solution of the problem is guaranteed via variational structure and fixed point theorem. But an impulsive fractional boundary value problem in which nonlinearity is because of derivative term still needs to be explored.
Above cited work gave us enough motivation to study the following nonlinear impulsive boundary value problem of fractional order in which nonlinearity is because of fractional order derivative dependence:
{tDαT(c0Dαty(t))+b(t)y(t)=h(t,y(t),c0Dαty(t));t≠tλ,ΔtDα−1T(c0Dαty(tλ))=Iλ(y(tλ));λ=1,2,⋯,n,y(0)=0=y(T), | (1.1) |
here 0=t0<t1<t2<⋯<tn<tn+1=T, tDαT is the α-order right Riemann-Liouville fractional derivative and c0Dαt is the α-order left Caputo fractional derivative for 12<α≤1, ΔtDα−1T(c0Dαty(tk))=tDα−1T(c0Dαty(t+k))−tDα−1T(c0Dαty(t−k)) and b:[0,T]→R+, Iλ:R→R and h:[0,T]×R×R→R are the functions satisfying some assumptions.
Remark 1.1. For α=1, it ought to be noticed that, one has c0Dαtu(t)=u′(t) and tDαTu(t)=−u′(t), and (1.1) reduces to standard impulsive problem of second order [20]. Therefore our concern (1.1) generalize that of [20].
Since the corresponding integral equation for the problem (1.1) can not be found, therefore we can not use formal analysis approach such as fixed point theorem. Also the problem (1.1) doesn't have a variational structure because of fractional derivative presence in the nonlinear term [20]. So the problem (1.1) looks like unsolvable. To overcome all these obstacles, we shall use a very interesting procedure by considering, for z∈Eα0 (which is defined in preliminary section), following a class of associated damped problems which involves no nonlinear dependence on the derivative.
{tDαT(c0Dαty(t))+b(t)y(t)=h(t,y(t),c0Dαtz(t));t≠tλ,ΔtDα−1T(c0Dαty(tλ))=Iλ(y(tλ));λ=1,2,⋯,n,y(0)=0=y(T). | (1.2) |
Above problem has a variational structure and can be solved by applying critical point theory. At the end, we shall join the solutions of (1.2) and of the main problem (1.1) by using fixed point theorem. This approach is same as that of used in [20] but here we shall extend the results from integer order to fractional order. Within the outer boundaries of our knowledge, problem (1.1) is untouched and going to get first treatment through this paper by using a novel and useful technique.
From start to finish of this paper, we suppose the following notations and conditions are satisfied.
(M1) For all t∈[0,T], we have 0<b_≤b(t)≤ˉb where b_ and ˉb are constants.
(M2) For all λ=1,2,⋯,n, Iλ:R→R and h:[0,T]×R×R→R are continuous functions.
(M3) There exist V∈C(R+,R+) and W∈L2(0,T) such that |h(t,y,ξ)|≤V(|y|)W(t) and |Hξ(t,y)|≤V(|y|)W(t) where Hξ(t,y)=∫y0h(t,u,ξ)du.
Rest of the article is composed in such a way that as per the prerequisites of article, some essential definitions and fundamental outcomes are given in Section 2. In Section 3, solution of damped problem (1.2) is discussed by converting it in a variational form. In Section 4, main theorem about the existence criteria of at least one solution of complete problem (1.1) along with proof is given. Toward the end, two examples are given to illustrate our outcomes.
All the basic results and the definitions from the literature are given in this section which will be used as the building blocks in the construction of our main outcomes.
Definition 2.1. [1,2] Suppose y is defined on [a,b] and α∈R+. Then aD−αsy(s)(α-order left Riemann-Liouville fractional integral of y) and sD−αby(s)(α-order right Riemann-Liouville fractional integral of y) are given by
aD−αsy(s)=1Γ(α)∫sa(s−w)α−1y(w)dw,s∈[a,b], |
and
sD−αby(s)=1Γ(α)∫bs(w−s)α−1y(w)dw,s∈[a,b], |
respectively, provided right hand side is defined pointwise on [a,b].
Definition 2.2. [1,2] Let y be defined on [a,b] and α∈R+. Then aDαsy(s)(α-order left Riemann-Liouville fractional derivative of y) and sDαby(s)(α-order right Riemann-Liouville fractional derivative of y) are given by
aDαsy(s)=dηdsηaD−(η−α)sy(s)=1Γ(η−α)dηdsη(∫sa(s−w)η−α−1y(w)dw), |
and
sDαby(s)=(−1)ηdηdsηsD−(η−α)by(s)=1Γ(η−α)(−1)ηdηdsη(∫sa(w−s)η−α−1y(w)dw), |
respectively. Here s∈[a,b],η−1<α≤η and η∈N.
Definition 2.3. [1,2] For η−1<α≤η, suppose y∈ACη([a,b],R), then csDαby(s)(α-order right Caputo fractional derivative of y) and caDαsy(s)(α-order left Caputo fractional derivative of y) are given by
csDαby(s)=(−1)ηsD−(η−α)bdηdsηy(s)=(−1)ηΓ(η−α)∫sa(w−s)η−α−1y(η)(w)dw, |
and
caDαsy(s)=aD−(η−α)sdηdsηy(s)=1Γ(η−α)∫sa(s−w)η−α−1y(η)(w)dw, |
respectively, here η∈N and s∈[a,b].
Lemma 2.4. [1,2] (a). Let η−1<α≤η and u,v∈L2(a,b) then
∫ba[aD1−αsu(s)]v(s)ds=∫bau(s)[sD1−αbv(s)]ds. | (2.1) |
(b). Let η−1<α≤η,v∈AC([a,b],RN),v′∈L2([a,b],RN) and sDαT(c0Dαsu(s))∈AC([a,b],RN) with caDαsu(s)∈L2([a,b],RN) then
∫ba(caDαsu(s))(caDαsv(s))ds=∫ba(caDαsu(s))(caDα−1sv′(s))ds=∫basDα−1T(caDαsu(s))v′(s)ds=sDα−1T(caDαsu(s))v(s)|s=bs=a−∫badds(sDα−1T(caDαsu(s)))v(s)ds=sDα−1T(caDαsu(s))v(s)|s=bs=a+∫basDαT(caDαsu(s))v(s)ds. | (2.2) |
Eα0(Fractional Derivative Space)
Our main attention is to apply variational methods and critical point theory for a corresponding functional. So there is a strong need of a fractional derivative space. Below we define such fractional derivative space which is coinciding to the space defined in [18].
First we review the norms ||⋅|| and ||⋅||Lp as follows
||y||∞=maxs∈[0,T]|y(s)|,y∈C([0,T]),||y||Lp=(∫T0|y(s)|pds)1p,y∈Lp(0,T). |
Definition 2.5. [18] Let α∈(0,1] and C∞0([0,T],R) be the set of all functions y∈C∞([0,T],R) with y(0)=y(T)=0, then the fractional derivative space Eα0 is defined by the closure of C∞0([0,T],R) with respect to the norm
||y||α,2=(∫T0(|y(t)|2+|0Dαty(t)|2)dt)1/2, | (2.3) |
Remark 2.6. It is clear from the definition(2.5) that Eα0 is a space of functions y such that y∈L2[0,T] and 0Dαty(t)∈L2[0,T] with y(0)=0=y(T).
Lemma 2.7. [18] If α∈(12,1] then for y∈Eα0 we have
||y||L2≤TαΓ(α+1)||0Dαty(t)||L2, | (2.4) |
||y||∞≤Tα−12Γ(α)√2α−1||0Dαty(t)||L2. | (2.5) |
Remark 2.8. In the space Eα0, if ||⋅||α and ||⋅||b,α are defined as
||y||α=(∫T0|0Dαty(t)|2dt)12, | (2.6) |
and
||y||b,α=(∫T0(b(t)|y(t)|2+|0Dαty(t)|2)dt)1/2, | (2.7) |
then from (2.5) and (M1), it can be easily seen that ||y||α,2 defined in (2.3), ||y||α in (2.6), and ||y||b,α in (2.7) are equivalent norms.
Proposition 2.9. Let y∈Eα0, then the following result is satisfied
(b_TαΓ(α+1)+1)||y||α≤||y||b,α≤(ˉbTαΓ(α+1)+1)||y||α. | (2.8) |
Lemma 2.10. [18] If a sequence is weakly convergent in Eα0 then in C[0,T] space, it is strongly convergent.
Lemma 2.11. [18] For α∈(0,1], the fractional derivative space Eα0 is a Banach space which is reflexive and separable.
Theorem 2.12.[31,Theorem 1.1] Suppose ψ:Y→R be a sequentially weakly lower semi-continuous functional for a reflexive Banach space Y. If ψ is strictly convex and coercive, then ψ has a unique minimum on Y.
Theorem 2.13. [32,Schauder] If T:Z→Z is a continuous and compact map for a nonempty closed and convex subset Z of a Banach space Y, then T has a fixed point.
This section is devoted to investigate the variational structure and existence of solution of damped problem (1.2). First an equivalent form of the damped problem is given and then existence of solution is established by Theorem 2.12.
Lemma 3.1. For x∈Eα0, any solution y of the problem (1.2) will also satisfy the following Eq (3.1).
∫T0c0Dαty(t)c0Dαtx(t)dt+∫T0b(t)y(t)x(t)dt+n∑λ=1Iλ(y(tλ))x(tλ)−∫T0h(t,y(t),c0Dαtz(t))x(t)dt=0. | (3.1) |
Proof. Integrating from 0 to T after multiply (1.2) with x(t)∈Eα0, we get
∫T0tDαT(c0Dαty(t))x(t)dt+∫T0b(t)y(t)x(t)dt=∫T0h(t,y(t),c0Dαtz(t))x(t)dt | (3.2) |
On the left hand side for the value of first term, using (2.1), (2.2) and, the impulsive and boundary conditions of problem (1.2), we have
∫T0c0Dαty(t)c0Dαtx(t)dt=n∑λ=0∫tλ+1tλc0Dαty(t)c0Dαtx(t)dt,=n∑λ=0∫tλ+1tλc0Dαty(t)c0Dα−1tx′(t)dt,=n∑λ=0∫tλ+1tλtDα−1T(c0Dαty(t))x′(t)dt,=n∑λ=0tDα−1T(c0Dαty(t))x(t)|tλ+1tλ+n∑λ=0∫tλ+1tλtDαT(c0Dαty(t))x(t)dt,=n∑λ=0[tDαT(c0Dαty(t−λ+1))x(tλ+1)−tDαT(c0Dαty(t+λ))x(tλ)]+∫T0tDαT(c0Dαty(t))x(t)dt,=−n∑λ=1Iλ(y(tλ))x(tλ)+∫T0tDαT(c0Dαty(t))x(t)dt. |
So we can write
∫T0tDαT(c0Dαty(t))x(t)dt=∫T0c0Dαty(t)c0Dαtx(t)dt+n∑λ=1Iλ(y(tλ))x(tλ). | (3.3) |
Using Eq (3.3) in (3.2), we get the Eq (3.1) and the proof is completed. Using Lemma 3.1, we can introduce notion of the weak solution for the problem (1.1) and (1.2).
Definition 3.2. Let y∈Eα0, then y is a weak solution of the problem (1.2) if (3.1) is satisfied for each x∈Eα0. Also y is a weak solution of the problem (1.1) if it satisfies (3.1) for all x∈Eα0 with z=y.
Definition 3.3. Let ψz:Eα0→R be a functional defined by
ψz(y)=12∫T0|c0Dαty(t)|2+b(t)|y(t)|2dt+n∑λ=1∫y(tλ)0Iλ(s)ds−∫T0Hc0Dαtz(t)(t,y(t))dt, | (3.4) |
where Hξ(t,y(t))=∫y(t)0h(t,u,ξ)du.
Remark 3.4. For functional ψz, if x(t)∈Eα0 then
⟨ψ′z(y),x⟩=∫T0c0Dαty(t)c0Dαtx(t)dt+∫T0b(t)y(t)x(t)dt+n∑λ=1Iλ(y(tλ))x(tλ)−∫T0h(t,y(t),c0Dαtz(t))x(t)dt. |
Thus in the view of Lemma 3.1, one can see that critical points of the functional ψz are precisely weak solutions of the damped problem (1.2).
We are stating a set of conditions which will be used later where they needed.
(M4) There exist aλ,γλ,bλ,γλ∈R where λ∈{0,1,2,⋯,n} and γ0,⋯,γn>0 such that
∫y0Iλ(s)ds≥aλ,γλ|y|γλ+bλ,γλ,Hξ(t,y)≤a0,γ0|y|γ0+b0,γ0|y|. |
If K={λ∈{1,2,⋯,n};aλ,γλ≤0}, and suppose one condition from the following is satisfied.
● (M4.1) Either K≠ϕ.
(M4.1.1a) a0,γ0≤0.
(M4.1.1b) a0,γ0>0,γ0=2,min{1,α}2(1+b_TαΓ(α+1))>T2α[Γ(α)]2(2α−1)a0,2.
(M4.1.1c) a0,γ0>0,γ0<2.
(M4.1.2) γλ≤2 for all λ∈K, and let γλ1=γλ2=⋯=γλq=2 and K0={λ1,λ2,⋯,λq}.
(M4.1.2a) a0,γ0≤0, min{α,1}2(b_TαΓ(α+1)+1)>T2α−1[Γ(α)]2(2α−1)∑λ∈K0aλ,γ0.
(M4.1.2b) a0,γ0>0,γ0=2, min{α,1}2(b_TαΓ(α+1)+1)>T2α−1[Γ(α)]2(2α−1)[∑nλ=0aλ,2+Ta0,2].
(M4.1.2c) a0,γ0>0,γ0<2, min{α,1}2(b_TαΓ(α+1)+1)>T2α−1[Γ(α)]2(2α−1)∑λ∈K0aλ,γ0.
● (M4.2) Or K=ϕ, therefore aλ,γλ>0 for all λ∈{1,2,⋯,n}.
(M4.2.1) a0,γ0≤0.
(M4.2.2) a0,γ0>0, γ0≤2.
(M4.2.3) a0,γ0>0, γ0=2, min{α,1}2(b_TαΓ(α+1)+1)>T2α[Γ(α)]2(2α−1)a0,2.
(M5) y↦Hξ(t,y) is concave and y↦∫y0Iλ(s)ds is convex and one of them is strict.
Lemma 3.5. Suppose condition M4 is satisfied, then there exists β(s) which is independent of c0DαTz(t) such that ψz(y)≥β(||y||α) with the property β(s)→+∞ as s→∞.
Proof. We shall prove by considering only one item from (M4). For all other considerations of (M4), one can establish the proof in similar fashion. Suppose K≠ϕ and γλ<2,∀λ∈K with a0,γ0<0. For y∈Eα0, using (2.8),
ψz(y)=12∫T0|c0Dαty(t)|2+b(t)|y(t)|2dt+n∑λ=1∫y(tλ)0Iλ(s)ds−∫T0Hc0Dαtz(t)(t,y(t))dt,≥min{1,α}2(1+b_TαΓ(α+1))||y||2α+n∑λ=1[aλ,γλ|y(tλ)|γλ+bλ,γλ]−∫T0a0,γ0|y(t)|γ0+b0,γ0dt,≥min{1,α}2(1+b_TαΓ(α+1))||y||2α−∑λ∈K|aλ,γλ|(Tα−12Γ(α)√2α−1)γλ||y(t)||γλα+|a0,γ0|∫T0|y(t)|γ0dt+n∑λ=1bλ,γλ−b0,γ0T,≥min{1,α}2(1+b_TαΓ(α+1))||y||2α−∑λ∈K|aλ,γλ|(Tα−12Γ(α)√2α−1)γλ||y(t)||γλα+n∑λ=1bλ,γλ−b0,γ0T,≥β(||y||α), |
where β:(R+,R+) is given by
β(s)=min{1,α}2(1+b_TαΓ(α+1))s2−∑λ∈K|aλ,γλ|(Tα−12Γ(α)√2α−1)γλsγλ+n∑λ=1bλ,γλ−b0,γ0T. |
Then β is continuous, independent of c0Dαtz(t) and β(s)→+∞ as s→∞. The proof is completed.
Theorem 3.6. Suppose M4 and M5 are fulfilled, then the damped problem 1.2 has a unique weak solution yz for each z∈Eα0. Moreover there exists R>0 for all z∈Eα0 such that ||yz||α≤R.
Proof. Our attention is to apply Theorem 2.12. Since any norm is convex and u↦u2 is convex on [0,∞), therefore The functional ψz is convex by using M5. Further more, ψz is sequentially weakly lower semi-continuous being sum of a weakly and of a convex continuous functions [31,Theorem 1.2,Propositon 1.2]. Actually ∫T0|c0Dαty(t)|2+b(t)|y(t)|2dt is convex and continuous on Eα0. Using the Lemma 2.10 along with M2 and Lebesgue dominated convergence theorem ∫y(tλ)0Iλ(s)ds−∫T0Hc0Dαtz(t)(t,y(t))dt is weakly continuous on Eα0. According to the Lemma 3.5, ψz is coercive. So according to Theorem 2.12, ψz has a unique global minimum yz for each z∈Eα0 which is also a weak solution of the damped problem (1.2). The existence of R is proved as a consequence of Theorem 2.12. The property that R does not depend on z is a consequence of the fact that β in independent of z.
Up to previous section, we have proved that there exists a unique critical point yz for each z∈Eα0. Here we define a map T:z∈Eα0→yz∈Eα0 as Tz=yz. It is clear that if there is any fixed point of T then that will be solution of the main problem (1.1).
Lemma 4.1. If M4 and M5 are satisfied, then the mapping T:z∈Eα0→yz∈Eα0 is continuous and compact.
Proof. First we prove that T:z∈Eα0→yz∈Eα0 is continuous. Let {zn} be a sequence in Eα0 such that zn→z. We have to show that Tzn→Tz. Suppose Tzn=yn. From Theorem 3.6, there is a R>0 so that ‖yn‖≤R. So there exists a weakly convergent subsequence {ynk} such that ynk⇀y (say) in Eα0 and by Lemma 2.10, ynk→y in C([0,T]). Let {ynkj} be an arbitrary subsequence of {ynk}.
As we have znk→z in Eα,20, then c0Dαtznj(t)→c0Dαtz(t) in L2(0,T) and for a subsequence {znkj}, we have c0Dαtznjl(t)→c0Dαtz(t) for almost every t∈[0,T]. For any x∈Eα0, using Lebesgue's dominated convergence theorem and the fact that functions Iλ and h are continuous, we get
∫T0c0Dαtynkj(t)c0Dαtx(t)dt+∫T0b(t)ynkj(t)x(t)dt+n∑λ=1Iλ(ynkj(tλ))x(tλ)−∫T0h(t,ynkj(t),c0Dαtznkj(t))x(t)dt=0→∫T0c0Dαty(t)c0Dαtx(t)dt+∫T0b(t)y(t)x(t)dt+n∑λ=1Iλ(y(tλ))x(tλ)−∫T0h(t,y(t),c0Dαtz(t))x(t)dt=0, |
so we have Tz=y using the uniqueness of critical point and the fact that {ynkj} converges weakly to y. Also if x=ynkj, then ‖ynkj‖→‖y‖. Hence arbitrary subsequence {ynk} of {yn} has a subsequence {ynkj} such that ynkj→Tz, which shows that yn→Tz. So T is continuous.
Next we show that T is compact. Consider {zn} is a bounded sequence in Eα0. We have to prove that sequence {Tzn} has a convergent subsequence. Suppose Tzn=yn, then as in above discussion, a subsequence {Tznkj} of {Tzn} exists which converges to Tz=y in Eα0. This completes the proof.
Theorem 4.2. Suppose M4 and M5 are hold then the main problem 1.1 has at least one weak solution.
Proof. According to the Theorem 3.6 that there is a constant R>0 such that ‖Tz‖≤R. Let T:¯B(0,R)⊂Eα0→¯B(0,R), then from Lemma 4.1, T is continuous and compact map. Schauder's fixed point guarantees that there exists a fixed point z∈Eα0 such that Tz=z, which shows that main problem (1.1) has a solution. This completes the proof.
Example 4.3. Suppose the following nonlinear BVP,
{tD451(c0D45ty(t))+y(t)=−1−y3(t)(t+1)5(3+cos(c0D45ty(t))),t≠t1=0.5,ΔtD−151(c0D45ty(t1))=1000y3(t1),y(0)=0=y(1), | (4.1) |
here h(t,y,ξ)=−1−y3(3+cosξ)(t+1)5 and I1(η)=1000η3. For these values we have
a0,4=−12,b0,4=−1,a1,4=250, and b1,4=0. Because a1,4>0 so K=ϕ and a0,4<0, so we are in case (M4.2.1). Also
y↦∫y0I1(η)dη=250y4, |
is strictly convex and
y↦Hξ(t,y)=−y−14(3+cosξ)(t+1)5y4, |
is strictly concave. This shows that (M5) is satisfied. Hence above problem (4.1) has a weak solution according to the Theorem 4.2.
Example 4.4. Suppose the following impulsive nonlinear BVP,
{tD9101(c0D910ty(t))+t2y(t)=5−12(arctan(c0D910ty(t))+π)(y(t)+siny(t)cosy(t)),t≠t1=0.5,ΔtD−1101(c0D910ty(t1))=−1,y(0)=0=y(1), | (4.2) |
here h(t,y,ξ)=5−12(cosysiny+y)(arctanξ+π) and I1(η)=−1. For these values we have
a0,2=−π8,b0,2=5,a1,1=−1, and b1,1=0. Because a1,1<0 so K≠ϕ and a0,2<0, so we are in case (M4.1.1). Moreover
y↦∫y0I1(η)dη=−y, |
is convex and
y↦Hξ(t,y)=5y+18(cos2y−2y2)(arctanξ+π), |
is strictly concave. This shows that (M5) is satisfied. Hence above problem (4.2) has a weak solution according to the Theorem 4.2.
Fixed point theorems and varitaitonal techniques along with critical point theory are very useful and applicable tools to discuss the existence of solution of differential equations of both integer and fractional orders. In this article by using these useful approaches, we have provided sufficient conditions for the existence of at least one weak solution of a nonlinear impulsive problem of fractional order in which nonlinearity is due to derivative term of fractional order. Our results generalize the nonlinear second order impulsive differential problems with dependence on derivative. The present results can be easily extended to the two-scale fractal calculus.
The authors declare no conflict of interest.
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