1.
Introduction
Many well-known epidemic models [1,2,3,4,5,6,7] have been proposed and discussed over the years. For instance, De la Sen et al. [8] in their study analyzed an epidemic model that incorporates delayed, distributed disease transmission and a general vaccination policy. Weera et al. conducted a numerical investigation of a nonlinear computer virus epidemic model with time delay effects [9]. Li et al. [3] examined an SIRS epidemic model with a general incidence rate and constant immigration, which took the following form
where N==S+I+R and the biological implications are shown in Table 1, and the infectious force βf(N) is a continuous and twice differentiable function of total population and β>0 is adequate contact rate. Furthermore, f satisfies the following hypotheses
1)f∈C2((0,∞);(0,∞)).
2)f′(N)≤0 for any N>0.
3)[f(N)N]′≥0 for any N>0.
Their research [3] found that
is the basic reproduction number. Furthermore, one gets
● If b=0 and R0<1, then system (1.1) has a disease-free equilibrium E0=(S0,I0,R0)=(Aμ−cAμ+δ,0,cAμ+δ), which is globally asymptotically stable (GAS).
● If R0>1 and b=0, there exists a unique endemic equilibrium E∗=(S∗,I∗,R∗) which is GAS.
● Otherwise if b>0, there is no disease-free equilibrium in system (1.1) and there exists a unique endemic equilibrium P∗=(S∗1,I∗1,R∗1) which is locally asymptotically stable. In addition, when α≤μ+2δ, the endemic equilibrium P∗ is GAS.
However, in reality, variations in environmental factors affect the transmission coefficients of infectious diseases. As a result, stochastic modelling is an appropriate way to model epidemics in a variety of situations. For example, stochastic models can account for the randomness of infectious contacts that may occur during potential and infectious periods [10]. In comparison to deterministic models, stochastic epidemic models can provide more realism. A growing number of authors have recently focused on stochastic epidemic models [4,5,6,7,11,12,13,14,15,16,17,18,19,20,21,22]. Cai et al. [7] discovered that the global dynamics of a general SIRS epidemic model can determine the existence of either a unique stationary distribution free of disease or a unique stationary distribution with endemic disease. Liu et al. [18] found that in a stochastic SIRS epidemic model with standard incidence, in which two threshold parameters RS0 and ^RS0 exist.
Inspired by Mao et al. [23], this paper posits that fluctuations in the environment primarily manifest as fluctuations in the transmission coefficient,
where B(t) is a standard Brownian motion and σ2>0 indicates its intensity. Then we have
Our study is based on the deterministic SIRS epidemic model, which has proven to be an effective tool for investigating the spread of infectious diseases. Our approach incorporates two crucial elements: constant immigration and a general incidence rate, which are essential for understanding the impact of environmental fluctuations on disease dynamics.
One of the main strengths of our study lies in the fact that we have integrated these essential components into a stochastic framework. This has enabled us to analyze the effects of random fluctuations in disease transmission and immigration rates, which are significant factors that can profoundly influence the dynamics of infectious diseases. By examining these effects, we can obtain a more comprehensive understanding of the factors that contribute to the spread and persistence of diseases. Furthermore, our research has established the necessary conditions for the existence of a stationary distribution of positive solutions in the case of disease persistence. This novel contribution to the field has significant implications for the development of effective strategies for managing and controlling infectious diseases. Ultimately, our study provides valuable insights that can inform public health policies and initiatives aimed at reducing the impact of infectious diseases on global health.
The purpose of this paper is to explore the impact of environmental fluctuations on disease dynamics by analyzing the global dynamics of the stochastic SIRS epidemic model (1.2). The paper is structured as follows: In Section 2, we provide some preliminaries. Section 3 outlines the necessary conditions for disease extinction and persistence. We determine sufficient conditions for the existence of stationary distributions for persistent solutions of the model in Section 4. The paper concludes with numerical simulations and conclusions.
2.
Preliminaries
In this paper, unless specified otherwise, let (Ω,F,{Ft}t≥0,P) denote a complete probability space with a filtration {Ft}t≥0 that satisfies the regular conditions. Let B(t) be defined on this complete probability space. Denote a∨b=max{a,b}for anya,b∈R, and X={(x1,x2,x3)∈R3:x1>0,x2>0,x3>0}.
Lemma 1. [24] (Strong Law of Large Numbers) Let M={M}t≥0 be a real-valued continuous local martingale vanishing at t=0. Then
and
Theorem 1. For any (S(0),I(0),R(0))∈X, there is a unique solution (S(t),I(t),R(t)) of system (1.2) that remain in X with probability one.
The proof is standard and hence is omitted here.
Remark 1. From Theorem 2.1, we have
This implies that
is a positively invariant set of system (1.2). Hence throughout this paper we always assume that the initial value (S(0),I(0),R(0))∈Γ.
3.
Extinction
In contrast to the deterministic system (1.1), the purpose of this section is to study the dynamics of the system (1.2) when b=0 holds. Denote
Theorem 2. Let b=0 and (S(t),I(t),R(t)) be a solution of system (1.2). If
or
then
Proof. Making the use of Itô's formula [24] to lnI, we have
Integrating the above equality from 0 to t and then dividing by t on both sides, one obtains
where
Noting that G(t) is a local martingale (since it is a right continuous adapted process defined on (Ω,F,{Ft}t≥0,P)) whose quadratic variation is
Making the use of Lemma 2.1 leads to limt→∞G(t)t=0 a.s. Combining (3.1), we have
Substituting the above inequality into (3.3) and taking the limit on both sides, we obtain
Consider the case σ2<βμf(Aμ)A, we get
Noting that Aα+μ<N<Aμ, R>cAμ+δ and substituting them into (3.5), we have
From (3.2) and (3.3), we get
Then we have
which means that for arbitrary small ε>0 there are t0 and Ωε such that P(Ωε)≥1−ε and αI≤ε for t≥t0 and ω∈Ωε. In view of system (1.2), we have
Due to the arbitrariness of ε, one has
Similarly as getting equality (3.8), we have
In view of (3.7)–(3.9), we have
□
Remark 2. According to Theorem 3.1, if Rs0<1 and σ is not large, the disease will inevitably die out. It is worth noting that the expressions Rs0 and R0 reveal that Rs0<R0. Furthermore, if σ=0, Rs0=R0. In simpler terms, the conditions for the disease to die out in system (1.2) are considerably easier than those in the corresponding deterministic system (1.1).
4.
Asymptotic stability
In this section, we will prove that if b=0 and Rs0>1 or b>0, the densities of the distributions of the solutions to system (1.2) can converge in L1 to an invariant density.
Theorem 3. The distribution of (S(t),I(t),R(t)) has a density U(t,x,y,z) for t>0. If b=0 and Rs0>1 or b>0, then there is a unique density U∗(x,y,z) such that
The following steps constitute the proof of Theorem 4.1 above:
● First, the kernel function of (S(t),I(t),R(t)) is absolutely continuous.
● We demonstrate that the kernel function is positive on X.
● The Markov semigroup is either sweeping with respect to compact sets or asymptotically stable.
● Due to the presence of Khasminskiˇi function, we exclude sweeping.
For definitions related to Markov semigroups and their asymptotic properties, the reader is referred to the papers [25,26,27,28,29,30,31]. We will show this by Lemmas 4.1–4.5.
Lemma 2. For t>0 and any initial value (x0,y0,z0)∈X, the transition probability function P(t,x0,y0,z0,B) has a continuous density k(t,x,y,z;x0,y0,z0).
Proof. Similar to the proof method in [31], the Lie bracket is given by
Let a0(S,I,R)=(aA−βf(N)SI−μS+δRbA+βf(N)SI−(μ+γ+α)IcA+γI−(μ+δ)R) and a1(S,I,R)=(−σf(N)SIσf(N)SI0). Direct calculation leads to
with
and
where
Therefore, we have
According to H¨ormander Theorem [23], one obtains that P(t,x0,y0,z0,B) has a continuous density k(t,x,y,z;x0,y0,z0).
Next, fixing a point (x0,y0,z0)∈X and a function ψ∈L2([0,T];R), we have
where
Let DX0;ψ be the Frˊechet derivative. If for some ψ∈L2([0,T];R), the rank of DX0;ψ is 3, then k(T,x,y,x;x0,y0,z0)>0 for X=Xψ(T). Let
where f′ and g′ are the Jacobians of
For T≥t≥t0≥0, let Q(t,t0) be a matrix function such that Q(t0,t0)=Id, ∂Q(t,t0)∂t=Ψ(t)Q(t,t0). Then
□
Lemma 3. For each (x0,y0,z0),(x,y,z)∈Γ, there is T>0 satistying k(T,x,y,z;x0,y0,z0)>0.
Proof. Since we only need to find a continuous control function ψ, system (4.1) can be rewritten as follows
First, we verify that the rank of DX0;ψ is 3. Let ε∈(0,T) and
where χ denotes the indicator function of the interval [T−ε,T]. Since
we have
where v=(−σσ0). Direct calculation leads to
where
Thus the rank of DX0;ψ is 3.
Then let wψ=xψ+yψ+zψ, (4.2) becomes
where
Let
First, we find a positive constant T and a differentiable function
such that wψ(0)=w0, wψ(T)=w1, w′ψ(0)=g2(x0,w0,z0)=wd0, w′ψ(T)=g2(x1,w1,z1)=wdT and
We split the construction of the function wψ on three intervals [0,τ], [τ,T−τ] and [T−τ,T], where 0<τ<T/2. Let
If wψ∈(Aα+μ+θ,Aμ−θ), we have
Then we construct a C2-function wψ: [0,τ]→(Aα+μ+θ,Aμ−θ) such that
and for t∈[0,τ], wψ satisfies
Analogously, we can construct a C2-function wψ: [T−τ,T]→(Aα+μ+θ,Aμ−θ) such that
and for t∈[T−τ,T], wψ satisfies
Taking T sufficiently large, then we can extend the function wψ: [0,τ]⋃[T−τ,T]→(Aα+μ+θ,Aμ−θ) to a C2-function wψ defined on the whole interval [0,T] such that
Thus, we can find C1-functions xψ and zψ that satisfy (4.3). Finally we can determine a continuous function ψ. and T>0 such that xψ(0)=x0, wψ(0)=w0, zψ(0)=z0, xψ(T)=x, wψ(T)=w, zψ(T)=z. This completes the proof.□
Lemma 4. If b=0 and Rs0>1 or b>0. For {P(t)}t≥0 and every density g, one has
Proof. System (1.2) can be rewriten as
From Remark 2.1, we get
For almost every w∈Ω, there is t0∈t0(w) such that
As a matter of fact, there exist three possible cases:
1) N(0,w)∈(Aα+μ,Aμ). In this case, our statement is obvious from (4.7).
2) N(0,w)∈(0,Aα+μ). Assume that our claim is not satisfied. Then there is Ω′⊂Ω with P(Ω′)>0 such that N(t,w)∈(0,Aα+μ),w∈Ω′. By (4.7), we obtain that for any w∈Ω′, N(t,w) is strictly increasing on [0,∞) and
According to system (4.6), we get that limt→∞S(t,w)=limt→∞R(t,w)=0, w∈Ω′ and thus, limt→∞I(t,w)=Aα+μ, w∈Ω′.
Consider the case b=0, making the use of Itˆo's formula, we have
Thus
where G(t):=1t∫t0σS(τ)f(N(τ))dB(τ). Applying Lemma 2.1, we have
Thus, due to S(t), I(t), f(N(t)) are continuous,
This contradicts the assumption
Then let us consider the case b>0. Since limt→∞N(t,w)=Aα+μ and limt→∞S(t,w)=limt→∞R(t,w)=0 for w∈Ω′, which contradicts that R(t,w)>0 for w∈Ω′, t∈(0,∞) and the claim follows.
3) N(0,w)∈(Aμ,∞). We suppose, by contradiction, and analogous arguments to 2), that there is Ω′⊂Ω with P(Ω′)>0 such that
Firstly, consider the case b=0, by the second and third equations of (4.6), for any w∈Ω′, one gets
For all w∈Ω′, one has
Therefore
This contradicts the assumption limt→∞I(t)=0 a.s. In other words, for almost all w∈Ω, there is t0=t0(w) such that
When b>0, we get that I(t,w)>0 for t∈(0,∞) and w∈Ω′. This contradicts the assumption limt→∞N(t,w)=Aμ, w∈Ω′ and the claim holds.
Similar to the proof of 2) and 3), one obtains that for almost all w∈Ω, there is t1=t1(w) such that
□
Lemma 5. {P(t)}t≥0 is asymptotically stable or is sweeping with respect to compact sets.
Proof. In view of Lemma 4.1, {P(t)}t≥0 is an integral Markov semigroup with kernel k(t,x,y,z;x0,y0,z0). According to Lemma 4.3, it suffices to consider the restriction of {P(t)}t≥0 to the space L1(Γ). By Lemma 4.2, one gets
on Γ, for every g∈D. Then {P(t)}t≥0 is asymptotically stable or is sweeping with respect to compact sets.□
Lemma 6. Assume that b=0 and Rs0>1 or b>0, then {P(t)}t≥0 is asymptotically stable.
Proof. From Lemma 4.4, {P(t)}t≥0 satisfies the Foguel alternative. In order to exclude sweeping it is sufficient to construct a nonnegative C2-Khasminskiǐ function V and a closed set Dϵ∈Σ such that
First of all, we consider the case b=0 and Rs0>1. Define
where V1=−lnI−ℓ1N+ℓ2R, V2=−lnS, V3=−ln(Aμ−N), V4=−ln(N−Aμ+α), V5=−ln(R−cAμ+δ), ℓ1=βf(Aμ)μ, ℓ2=βf(Aμ)μ+δ and M is a positive constant satisfying
It is easy to find that H reaches a minimum at (S∗,I∗,R∗). Then we define
Thus we have
Similarly, we obtain
and
Therefore
Define
where ϵ∈(0,1) is sufficiently small satisfying
Denote
Then we prove that A∗V(S,I,R)<−1 for any (S,I,R)∈Γ∖Dϵ=D1⋃D2⋃D3⋃D4⋃D5.
Case 1. For any (S,I,R)∈D1, from (4.9),
Thus
Case 2. For any (S,I,R)∈D2, from (4.8) and (4.10),
Therefore
Case 3. For any (S,I,R)∈D3, from (4.11),
Hence
Case 4. For any (S,I,R)∈D4, from (4.12),
Then
Case 5. For any (S,I,R)∈D5, from (4.12),
Thus
In summary,
Using similar arguments to those in [27], we can obtain that {P(t)}t≥0 is asymptotically stable.
Next, we consider the case b>0, define
Obviously, E has a minimum point (S1∗,I1∗,R1∗) in the interior of Γ. Then we define
Then we have
Similarly, define
where ϵ1∈(0,1) is sufficiently small satisfying
For convenience, we divide Γ∖Uϵ1 as
The rest of the proof is omitted here due to it is similar to the case of b=0. This completes the proof.
□
Remark 4.1. The stationary distribution of the correct solution refers to the long-term behavior of a stochastic system when the probability of the disease persisting is not zero. In other words, if the random threshold Rs0 is greater than 1, the disease may not be eradicated and will persist in the population. In this case, the stable distribution of the correct solution refers to the probability distribution of infected individuals in the population over time once the system has reached a steady state. This distribution is said to be stationary because it does not change over time, while the correct solution refers to the non-zero probability of individuals being infected.
Remark 4.2. According to Theorems 3.1 and 4.1, if Rs0<1, the disease will become extinct under mild additional conditions, whereas if Rs0>1, the disease will be stochastically persistent. The value of Rs0 can determine the extinction of the disease or not, and thus it can be considered as a threshold for the stochastic system (1.2).
5.
Numerical simulations
In this section, we give several numerical examples to support our results. Employing Milstein's high-order method [32], the discretized system is
where the time increment Δt>0, ϱk for k=1,2,...,n are Gaussian random variables following the standard normal distribution.
5.1. Threshold dynamics with the standard incidence
In this part, we focus on the dynamical behavior of system (1.2) with standard incidence. Let
Assume
Parameters b, c and σ will take different values in different examples.
Example 1. (Stationary distribution) Let b=0 and c=0.1, then we obtain R0=1.3657>1. From [3], the disease of the deterministic system (1.1) will persist in a long term (Figure 1).
For system (1.2), let σ=0.01 and one obtains
From Theorem 4.1, system (1.2) admits an ergodic stationary distribution (Figure 1).
For the case with b=0.1 and c=0, we choose σ=0.075 such that Rs0=R0−σ2f2(Aμ)A22(μ+γ+α)μ2=0.9983<1. From Theorem 4.1, system (1.2) admits an ergodic stationary distribution (Figure 2).
Example 2. (Extinction) Let b=0, c=0.1, σ=0.1, and the other parameters are shown in (5.2) such that
then from Theorem 3.1, the disease of system (1.2) will become extinct, see Figure 3.
Let b=0, c=0.1 and σ=0.08 and the other parameters are shown in (5.2) such that
and σ2−βμf(Aμ)A=−0.0036<0. According to Theorem 3.1, the disease of system (1.2) will be extinct (Figure 4).
5.2. Threshold dynamics with the mass action incidence
In this part, we investigate the threshold dynamics of deterministic system (1.1) and stochastic system (1.2) with mass action incidence. Let
where λ is a positive constant. Assume
Parameters β, b, c and σ will take different values in different examples.
Example 3. (Stationary distribution) First, consider the persistence of the disease of system (1.2) with β=0.002, b=0 and c=0.1. Then we obtain R0=1.3763>1. From [3], the disease of the deterministic system (1.1) will persist in a long term, see Figure 1.
For the stochastic system (1.2), let σ=0.0002 and we obtain
From Theorem 4.1, the stochastic system (1.2) admits an ergodic stationary distribution. See Figure 5.
For the case with b=0.1 and c=0, we choose β=0.001 and σ=0.0002 such that Rs0=R0−σ2f2(Aμ)A22(μ+γ+α)μ2=0.6944<1. From Theorem 4.1, system (1.2) admits an ergodic stationary distribution. See Figure 6.
Example 4. (Extinction) Let b=0, c=0.1, β=0.0015 and σ=0.002, and the other parameters are shown in (5.3) such that
thus from Theorem 3.1, the disease of system (1.2) will be extinct exponentially in a long term (Figure 7).
Let b=0, c=0.1, β=0.0014 and σ=0.0015 and the other parameters are shown in (5.3) such that
and σ2−βμf(Aμ)A=−5.5×10−7<0. According to Theorem 3.1, the disease of system (1.2) will be extinct exponentially in a long term (Figure 8).
6.
Conclusions
In this study, we present a stochastic SIRS epidemic model with constant immigration and general incidence rate. Our results show that the threshold parameter
for this model is lower than its deterministic counterpart (Rs0<1<R0). In this scenario, the deterministic system may have an endemic state, while the stochastic system leads to disease extinction with probability one (Theorem 3.1). On the other hand, if Rs0>1, the distribution of solution converge in L1 to an invariant density (Theorem 4.1), indicating that environmental fluctuations can positively impact the control of infectious diseases. Moreover, if there is a constant influx of infected population, i.e. b>0, the stationary distribution will always exist and the disease will persist. We contend that conducting a comprehensive analysis of the influence of migration on the dynamics of our model will yield valuable insights into the intricate interplay between migration and disease transmission.
Acknowledgments
This work was supported by Department of Science and Technology of Jilin Province (No. 20210509040RQ), National Natural Science Foundation of China (No. 12271201), Innovation and Entrepreneurship Talent Funds of Jilin Province (No. 2022ZY22) and the Research Funds of Jilin University of Finance and Economics (No. 2022YB025).
Conflict of interest
The authors declare there is no conflict of interest.