Abstract
Our investigation is devoted to examining the existence, uniqueness, and multiplicity of positive solutions for a system of Hadamard fractional differential equations. This system is defined on an infinite interval and is subject to coupled nonlocal boundary conditions. These boundary conditions encompass both Hadamard fractional derivatives and Riemann–Stieltjes integrals, and the nonlinearities within the system are non-negative functions that may not be bounded. To establish the main results, we rely on the utilization of mathematical theorems such as the Schauder fixed-point theorem, the Banach contraction mapping principle, and the Avery–Peterson fixed-point theorem.
Keywords:
Hadamard fractional differential equations; nonlocal coupled boundary conditions; positive solutions; existence; uniqueness; multiplicity MSC:
34A08; 34B10; 34B15; 34B18
1. Introduction
Fixed-point theory finds its applications across a spectrum of domains in our lives. Notably, it plays a crucial role in tackling ordinary differential equations, partial differential equations, and, more recently, fractional differential equations. Within these arenas, researchers delve into investigating the existence, uniqueness, and multiplicity of various types of solutions, whether they be positive or otherwise. To achieve this, they harness a multitude of fixed-point theorems. These theorems include the influential Banach contraction mapping principle, the Guo–Krasnosel’skii fixed-point theorem involving cone expansion and compression of norm type, the Schauder fixed-point theorem, the Leray–Schauder alternative, the nonlinear alternative of Leray–Schauder type, the Leggett–Williams theorem, the Avery–Peterson fixed-point theorem, the nonlinear alternative of Leray–Schauder type specifically designed for Kakutani maps, and the Covitz–Nadler fixed-point theorem, among others. In the pursuit of understanding and applying these theorems, noteworthy references encompass well-established books such as [,,,,,,,], along with key papers such as [,].
In this paper, we analyze the following system comprising nonlinear Hadamard fractional differential equations
subject to the nonlocal coupled boundary conditions
where , , , , denotes the Hadamard fractional derivative of order p (for ), the non-negative functions are defined on , the functions may be unbounded and verify some assumptions, (), and the integrals from the conditions (2) are Riemann–Stieltjes integrals with functions of bounded variation. The term “nonlocal” within the context of the boundary conditions signifies that the unknown functions and at the ends of the interval are influenced by their own values within that interval. In the conditions (2), the functions and at infinity exhibit this nonlocal characteristic, as their dependence (mediated by Riemann–Stieltjes integrals) extends over the entire interval .
Our focus lies in investigating the existence, uniqueness, and multiplicity of positive solutions for the problem described by system (1) and the conditions (2). We consider different assumptions regarding the functions , and . To accomplish this, we employ mathematical tools such as the Schauder fixed-point theorem, the Banach contraction mapping principle, and the Avery–Peterson fixed-point theorem (see [,]). A positive solution of (1), (2) is a pair of functions which satisfies (1) and (2), with , and for all or for all . The problems in (1), (2), where the functions and are independent of t, continuous, and bounded, was recently investigated in [], under different assumptions than those used the present paper. In [], for the proof of the main results, the authors applied the Guo–Krasnosel’skii fixed-point theorem and the Leggett–Williams theorem (see [,]). In the paper in [], the authors studied the positive solutions of system (1) with , , () and bounded nonlinearities f and g, supplemented with the boundary conditions
where for , , , , and is the Hadamard fractional integral of order k with lower limit 1. As we mentioned in [], the last conditions for from (3) are particular cases of the boundary conditions (2). Indeed we can write these conditions as and with some bounded variation functions and , ( and ). We also mention the paper in [], in which the authors investigated the nonlinear Hadamard fractional differential equation with nonlocal boundary conditions
where is an unbounded function, , , and for all , for all , . They studied the existence, uniqueness, and multiplicity of positive solutions for problem (4) using diverse fixed-point theorems. The last boundary condition in (4) can be written as , where , with
for . So, in contrast to the paper in [], our problems (1), (2) introduce several novel aspects. Firstly, the functions and are allowed to be unbounded. Additionally, the conditions imposed on these functions in the main results differ from those in the aforementioned paper. Lastly, our proof strategy involves applying fixed-point theorems that differ from those used in []. In scenarios where the variable t is confined to the finite interval , it is worth noting the contribution presented in the paper in []. In that work, the authors delve into the exploration of positive solutions within a system of Riemann–Liouville fractional differential equations. Notably, these equations are subject to uncoupled nonlocal boundary conditions, encompassing fractional derivatives and Riemann–Stieltjes integrals. The system’s nonlinearities exhibit characteristics such as non-negativity and the potential for singularity with respect to the time variable. In substantiating their central theorems, the authors employ the Guo–Krasnosel’skii fixed-point theorem. This theorem serves as a pivotal tool in establishing the existence of positive solutions in the context of the explored system. For a thorough grasp of Riemann–Liouville, Caputo, Hadamard, Hilfer, and other variants of fractional differential equations and systems, coupled with a range of boundary conditions and their multifaceted applications across diverse fields, we recommend that readers explore the monographs in [,,,,,,,,,,,], and the papers in [,,,,]. These references serve as invaluable resources for gaining deeper insights into this intricate subject matter.
The structure of the paper is outlined as follows. Section 2 provides an overview of key preliminary results from the paper in [], which will be employed in the subsequent section. In Section 3, we present the existence theorems for problems (1), (2). Section 4 showcases a selection of examples that serve to illustrate our results, and Section 5 contains the conclusions of this paper.
2. Auxiliary Results
This section aims to introduce several essential preliminary results from the paper in [], which will be utilized in the subsequent section.
We study the system of Hadamard fractional differential equations
where , subject to the boundary conditions (2). We denote by
We also use the notation .
Lemma 1
Additionally, we employ the notations
Lemma 2
([]). Suppose that the functions , are nondecreasing functions, , , and , and let . Then the functions and , (given by (9) and (8)) are continuous on , and satisfy the following inequalities for all :
(a)
(b)
(c) ;
(d) ; ;
(e)
;
(f)
(g)
(h)
Under the assumptions of Lemma 2, we obtain that and , so given by (10) satisfies the inequalities , and .
We present now the main assumptions that we will use in our results.
- (A1)
- , , , , , are nondecreasing functions, , , and (given by (6)).
- (A2)
- The functions are not identical zero on any subinterval of I, and , .
- (A3)
- The functions satisfy the conditions(i) , on any subinterval of I;(ii) are measurable for every ;(iii) , are continuous on , for a.e. ;(iv) For any , there exist the functions with and , such thatfor all and a.e. .
We introduce the space
with the norm , the space
with the norm , and the space with the norm . The spaces , and are Banach spaces (see [], Lemma 2.7).
We define now the positive cone by
and the operator by , where the operators and are defined by
for all and .
Based on Lemma 2 and relations (7), we easily deduce that is a solution of problems (1), (2) if and only if is a fixed point of operator .
Using Lemma 2.8 from [], and similar arguments to those used in the proof of Lemma 7 from [], and Lemma 3.4 from [], we obtain the following result.
Lemma 3.
If – hold, then the operator is completely continuous, that is, continuous and it maps bounded sets into relatively compact sets.
3. Existence of Positive Solutions
In this section, we present our main theorems that pertain to the existence of positive solutions for the problems (1), (2).
Our first existence theorem is the next one based on the Schauder fixed-point theorem.
Theorem 1.
Assume that – hold. In addition, we suppose
- (A4)
- there exist non-negative functions withsuch thatfor all .
Proof.
We take a positive number satisfying the condition
and we define the set .
We show firstly that . For this, let , that is , which implies and , or and for all . Then, by using Lemma 2, we obtain for all
So we find
In a similar manner, for all , we have
Then we deduce
Therefore, by using condition (11), we obtain
So we conclude that .
The second existence theorem is the following one, which is based on the Banach contraction mapping principle.
Theorem 2.
Assume that – hold. In addition, we suppose
- (A5)
- there exist non-negative functions withsuch thatfor all .
Proof.
By using Lemma 2 and assumption , for any , we obtain
In a similar manner, we find
From the above inequalities, we deduce
By condition (12), we infer that is a contraction operator. By using the Banach contraction mapping principle, we conclude that has a unique fixed point , which is the unique positive solution of problems (1), (2). In addition, for , the sequence defined by converges to , as . From the proof of the Banach theorem, we obtain the error estimate (13). □
Our third existence result is based on the fixed-point theorem of Avery and Peterson (see Theorem 10 from [], or Theorem 2.1 from []). We will use the notations of the functionals from Theorem 2.1 from [].
For , we introduce firstly the following constants
Theorem 3.
Assume that – hold, and there exists such that , and , . In addition, we suppose that there exist non-negative functions , and positive constants with , and , , such that
- (A6)
- andfor all ;
- (A7)
- andfor all ,
- (A8)
- andfor all
Proof.
For given in the assumptions of this theorem, we introduce the concave functional , the convex functionals , and the functional in the following way
We have for all and . In addition, we find and for all , where is the closure of the set , that is, .
We will prove that . For this, let . So . With , we obtain
Then we deduce
Therefore, .
Next, by Lemma 3, we infer that is completely continuous. We choose , and in what follows we will verify the conditions (i)–(iii) of Theorem 2.1 from [].
For (i), we show firstly that the set is a nonempty set, where . We consider the element
We obtain that , and . Then, , with . In addition, for any , by using , we have
So , that is, assumption (i) is satisfied.
For (ii), we will prove that for any with . So, let with . In a similar manner as that used in the proof of (i), we obtain that .
For (iii), we will show that , and for any with . Here, . Because , we find that . Moreover, for with , we infer as in the first part of the proof, by using (A6), that .
4. Examples
Let , (), , (), , , .
We consider the system of fractional differential equations
subject to the nonlocal coupled boundary conditions
By using the Mathematica program, we obtain , , , , and . Therefore, assumption is satisfied. In addition, we find , , , and .
Example 1.
We consider the functions
for all , . We derive , and . So assumption is also satisfied. For the functions and , the assumptions (i), (ii), and (iii) are easily verified.
These functions satisfied the inequalities
for all , , where
We obtain here , , , , , and .
In addition, for any and for all , , we find
Then
that is, assumption iv) is satisfied.
Example 2.
We consider the functions
for all , . We obtain and . So assumption is satisfied. The assumptions (i), (ii), (iii) for the functions and are also verified.
For , and for all , we derive the inequalities
where
We deduce
so assumption (iv) is satisfied.
The functions and satisfy the inequalities
for all where
We find , , , and . We also obtain , , and . Hence, by Theorem 2, we conclude that problems (15), (16) with the nonlinearities (18) have a unique positive solution . For a given element , this solution can be approximated using the sequence defined by , , or equivalently
If we consider , then, by Lemma 3 from [], we find for the following formulas:
In addition, the error estimate is
Example 3.
We consider the functions
Then we obtain
We also find and . So assumption is satisfied. The assumptions (i), (ii), and (iii) for the functions and are easily verified.
For , and for all , we deduce the inequalities
Because we have , , then the assumption (iv) is satisfied.
We choose , , , , and we consider the functions , . We obtain , , , . We also find , , , , , , , , , , , and .
Moreover, we deduce
that is, assumptions , and are satisfied.
5. Conclusions
In this research paper, we focused on investigating the presence, uniqueness, and multiplicity of positive solutions for a system of Hadamard fractional differential equations (1) on an infinite interval. The system was supplemented with nonlocal coupled boundary conditions (2), which incorporate fractional derivatives and Riemann–Stieltjes integrals. It is worth noting that unlike the previous work presented in the paper [], the nonlinearities in our system (1) are allowed to be unbounded. Furthermore, we employed different function conditions compared to those in [], and we utilized various fixed-point theorems, including the Schauder fixed-point theorem (for the existence of positive solutions, in Theorem 1), the Banach contraction mapping principle (for the existence and uniqueness of positive solution, in Theorem 2), and a fixed-point theorem introduced by Avery and Peterson (refer to [] for the existence of at least three positive solutions in Theorem 3). In the second-to-last section of our paper, we presented three illustrative examples that effectively showcase the main three outcomes of our research. Moving forward, we intend to explore the investigation of other systems of fractional equations, involving fractional derivatives of different types, subject to diverse boundary conditions.
Author Contributions
Conceptualization, R.L.; formal analysis, A.T. and R.L.; methodology, A.T. and R.L. All authors have read and agreed to the published version of the manuscript.
Funding
This research received no external funding.
Institutional Review Board Statement
Not applicable.
Informed Consent Statement
Not applicable.
Data Availability Statement
Not applicable.
Acknowledgments
The authors thank the referees for their valuable comments and suggestions.
Conflicts of Interest
The authors declare no conflict of interest.
References
- Granas, A.; Dugundji, J. Fixed Point Theory; Springer: New York, NY, USA, 2003. [Google Scholar]
- Guo, D.; Lakshmikantham, V. Nonlinear Problems in Abstract Cones; Academic Press: New York, NY, USA, 1988. [Google Scholar]
- Khamsi, M.A.; Kirk, W.A. An Introduction to Metric Spaces and Fixed Point Theory; John Wiley and Sons, Inc.: New York, NY, USA, 2001. [Google Scholar]
- Krasnosel’skii, M.A. Some problems of nonlinear analysis. Amer. Math. Soc. Transl. 1958, 10, 345–409. [Google Scholar]
- Krasnosel’skii, M.A. Positive Solution of Operator Equations; Noordhoff: Groningen, The Netherlands, 1964. [Google Scholar]
- Krasnosel’skii, M.A.; Zabreiko, P.P. Geometrical Methods of Nonlinear Analysis; Springer: New York, NY, USA, 1984. [Google Scholar]
- Subrahmanyam, P.V. Elementary Fixed Point Theorems; Springer: Singapore, 2019. [Google Scholar]
- Debnath, P.; Konwar, N.; Radenovic, S. (Eds.) Metric Fixed Point Theory, Applications in Science, Engineering and Behavioral Sciences; Springer: Singapore, 2021. [Google Scholar]
- Leggett, R.; Williams, L. Multiple positive fixed points of nonlinear operators on ordered Banach spaces. Indiana Univ. Math. J. 1979, 28, 673–688. [Google Scholar] [CrossRef]
- Avery, R.I.; Peterson, A.C. Three positive fixed points of nonlinear operators on ordered Banach spaces. Comput. Math. Appl. 2001, 42, 313–322. [Google Scholar] [CrossRef]
- Luca, R.; Tudorache, A. On a system of Hadamard fractional differential equations with nonlocal boundary conditions on an infinite interval. Fractal Fract. 2023, 7, 458. [Google Scholar] [CrossRef]
- Tariboon, J.; Ntouyas, S.K.; Asawasamrit, S.; Promsakon, C. Positive solutions for Hadamard differential systems with fractional integral conditions on an unbounded domain. Open Math. 2017, 15, 645–666. [Google Scholar]
- Zhang, W.; Liu, W. Existence, uniqueness, and multiplicity results on positive solutions for a class of Hadamard-type fractional boundary value problem on an infinite interval. Math. Methods Appl. Sci. 2020, 43, 2251–2275. [Google Scholar] [CrossRef]
- Tudorache, A.; Luca, R. Positive solutions for a singular fractional boundary value problem. Math. Methods Appl. Sci. 2020, 43, 10190–10203. [Google Scholar] [CrossRef]
- Ahmad, B.; Alsaedi, A.; Ntouyas, S.K.; Tariboon, J. Hadamard-Type Fractional Differential Equations, Inclusions and Inequalities; Springer: Cham, Switzerland, 2017. [Google Scholar]
- Ahmad, B.; Henderson, J.; Luca, R. Boundary Value Problems for Fractional Differential Equations and Systems; Trends in Abstract and Applied Analysis 9; World Scientific: Hackensack, NJ, USA, 2021. [Google Scholar]
- Baleanu, D.; Diethelm, K.; Scalas, E.; Trujillo, J.J. Fractional Calculus Models and Numerical Methods; Series on Complexity, Nonlinearity and Chaos; World Scientific: Boston, MA, USA, 2012. [Google Scholar]
- Baleanu, D.; Tenreiro Machado, J.A.; Luo, A.C.J. (Eds.) Fractional Dynamics and Control; Springer: New York, NY, USA, 2012. [Google Scholar]
- Das, S. Functional Fractional Calculus for System Identification and Controls; Springer: New York, NY, USA, 2008. [Google Scholar]
- Henderson, J.; Luca, R. Boundary Value Problems for Systems of Differential, Difference and Fractional Equations. Positive Solutions; Elsevier: Amsterdam, The Netherlands, 2016. [Google Scholar]
- Kilbas, A.A.; Srivastava, H.M.; Trujillo, J.J. Theory and Applications of Fractional Differential Equations; North-Holland Mathematics Studies, 204; Elsevier Science B.V.: Amsterdam, The Netherlands, 2006. [Google Scholar]
- Klafter, J.; Lim, S.C.; Metzler, R. (Eds.) Fractional Dynamics in Physics; World Scientific: Singapore, 2011. [Google Scholar]
- Podlubny, I. Fractional Differential Equations; Academic Press: San Diego, CA, USA, 1999. [Google Scholar]
- Sabatier, J.; Agrawal, O.P.; Machado, J.A.T. (Eds.) Advances in Fractional Calculus: Theoretical Developments and Applications in Physics and Engineering; Springer: Dordrecht, The Netherlands, 2007. [Google Scholar]
- Samko, S.G.; Kilbas, A.A.; Marichev, O.I. Fractional Integrals and Derivatives. Theory and Applications; Gordon and Breach: Yverdon, Switzerland, 1993. [Google Scholar]
- Zhou, Y.; Wang, J.R.; Zhang, L. Basic Theory of Fractional Differential Equations, 2nd ed.; World Scientific: Singapore, 2016. [Google Scholar]
- Butkovskii, A.G.; Postnov, S.S.; Postnova, E.A. Fractional integro-differential calculus and its control-theoretical applications. I. Mathematical fundamentals and the problem of interpretation. Autom. Remote Control 2013, 74, 543–574. [Google Scholar]
- Butkovskii, A.G.; Postnov, S.S.; Postnova, E.A. Fractional integro-differential calculus and its control-theoretical applications. II. Fractional dynamic systems: Modeling and hardware implementation. Autom. Remote Control 2013, 74, 725–749. [Google Scholar] [CrossRef]
- Makhlouf, A.B.; Mchiri, L. Some results on the study of Caputo-Hadamard fractional stochastic differential equations. Chaos Solitons Fractals 2022, 155, 111757. [Google Scholar] [CrossRef]
- Liu, J.; Wei, W.; Wang, J.; Xu, W. Limit behavior of the solution of Caputo-Hadamard fractional stochastic differential equations. Appl. Math. Lett. 2023, 140, 108586. [Google Scholar] [CrossRef]
- Rhaima, M. Ulam type stability for Caputo-Hadamard fractional functional stochastic differential equations with delay. Math. Methods Appl. Sci. 2023, 46, 10995–11006. [Google Scholar] [CrossRef]
- Thiramanus, P.; Ntouyas, S.K.; Tariboon, J. Positive solutions for Hadamard fractional differential equations on infinite domain. Adv. Differ. Equ. 2016, 2016, 1–18. [Google Scholar] [CrossRef]
Disclaimer/Publisher’s Note: The statements, opinions and data contained in all publications are solely those of the individual author(s) and contributor(s) and not of MDPI and/or the editor(s). MDPI and/or the editor(s) disclaim responsibility for any injury to people or property resulting from any ideas, methods, instructions or products referred to in the content. |
© 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).