Existence of Solutions For Nonlinear Fractional Differential Equations With Impulses and Anti-Periodic Boundary Conditions
Existence of Solutions For Nonlinear Fractional Differential Equations With Impulses and Anti-Periodic Boundary Conditions
Abstract
In this paper, we prove the existence of solutions for an anti-periodic boundary value
problem of nonlinear impulsive fractional differential equations by applying some known
fixed point theorems. Some examples are presented to illustrate the main results.
Keywords and Phrases: Anti-periodic boundary value problem; Impulse; Nonlinear
fractional differential equations; Fixed point theorem.
MSC (2010): 34A08; 34B37; 34K37.
1 Introduction
Fractional differential equations arise in many engineering and scientific disciplines as the
mathematical modeling of systems and processes in the fields of physics, chemistry, aerodynam-
ics, electrodynamics of complex medium, polymer rheology, etc. involves derivatives of fractional
order([1]-[3]). Recently, many authors have studied fractional-order differential equations from
two aspects, one is the theoretical aspects of existence and uniqueness of solutions, the other is
the analytic and numerical methods for finding solutions. The interest in the study of fractional-
order differential equations lies in the fact that fractional-order models are found to be more
accurate than the classical integer-order models, that is, there are more degrees of freedom in
the fractional-order models. Fractional differential equations also serve as an excellent tool for
the description of hereditary properties of various materials and processes. In consequence, the
subject of fractional differential equations is gaining more and more attention. For some recent
development on the topic, see ([4]-[13]) and the references therein.
where C D α is the Caputo fractional derivative, f ∈ C(J×R, R), Ik , Ik∗ ∈ C(R, R), J = [0, T ](T >
0), 0 = t0 < t1 < · · · < tk < · · · < tp < tp+1 = T, J ′ = J\{t1 , t2 , · · · , tp }, △u(tk ) = u(t+ k)−
− + −
u(tk ), where u(tk ) and u(tk ) denote the right and the left limits of u(t) at t = tk (k = 1, 2, · · · , p),
respectively. △u′ (tk ) have a similar meaning for u′ (t).
We organize the rest of this paper as follows: in Section 2, we present some necessary defi-
nitions and preliminary results that will be used to prove our main results. The proofs of our
main results are given in Section 3. Section 4 contains some illustrative examples.
2 Preliminaries
Let J0 = [0, t1 ], J1 = (t1 , t2 ], · · · , Jp−1 = (tp−1 , tp ], Jp = (tp , T ], and we introduce the spaces:
P C(J, R) = {u : J → R | u ∈ C(Jk ), k = 0, 1, · · · , p, and u(t+ k ) exist, k = 1, 2, · · · , p, } with the
norm kuk = sup |u(t)|, and P C (J, R) = {u : J → R | u ∈ C (Jk ), k = 0, 1, · · · , p, and u(t+
1 1
k ),
t∈J
u′ (t+ ′
k ) exist, k = 1, 2, · · · , p, } with the norm kukP C 1 = max{kuk, ku k}. Obviously, P C(J, R)
and P C 1 (J, R) are Banach spaces.
Definition 2.1 A function u ∈ P C 1 (J, R) with its Caputo derivative of order α existing on J
is a solution of (1.1) if it satisfies (1.1).
We need the following known results to prove the existence of solutions for (1.1).
kT uk ≤ kuk, ∀u ∈ ∂Ω.
Theorem 2.2 [17] Let E be a Banach space. Assume that T : E → E is a completely continuous
operator and the set V = {u ∈ E | u = µT u, 0 < µ < 1} is bounded. Then T has a fixed point
in E.
Lemma 2.1 For a given y ∈ C[0, T ], a function u is a solution of the impulsive anti-periodic
boundary value problem
C α 1 < α ≤ 2, t ∈ J ′ ,
D u(t) = y(t),
△u(tk ) = Ik (u(tk )), △u′ (tk ) = Ik∗ (u(tk )), k = 1, 2, · · · , p, (2.1)
u(0) = −u(T ), ′ ′
u (0) = −u (T ),
Proof. Let u be a solution of (2.1). Then, for t ∈ J0 , there exist constants c1 , c2 ∈ R such that
Z t
α 1
u(t) = I y(t) − c1 − c2 t = (t − s)α−1 y(s)ds − c1 − c2 t. (2.3)
Γ(α) 0
1 Rt
u′ (t) = (t − s)α−2 y(s)ds − c2 .
Γ(α − 1) 0
For t ∈ J1 , there exist constants d1 , d2 ∈ R, such that
1 Rt
u(t) = (t − s)α−1 y(s)ds − d1 − d2 (t − t1 ),
Γ(α) t1
1 Rt
u′ (t) = (t − s)α−2 y(s)ds − d2 ,
Γ(α − 1) t1
R t (t − s)α−1 Pk hR
ti (ti − s)
α−1 i
u(t) = tk y(s)ds + ti−1 y(s)ds + Ii (u(t i ))
Γ(α) i=1 Γ(α)
k−1 α−2
ti (ti − s)
P h R i
+ (tk − ti ) ti−1 y(s)ds + Ii∗ (u(ti ))
i=1 Γ(α − 1)
k α−2
ti (ti − s)
P hR i
+ (t − tk ) ti−1 y(s)ds + Ii∗ (u(ti )) − c1 − c2 t, t ∈ Jk , k = 1, 2, · · · , p.
i=1 Γ(α − 1)
(2.4)
′ ′
By conditions u(0) = −u(T ) and u (0) = −u (T ), we have
1 R T (T − s)α−1 T R T (T − s)α−2
c1 = t y(s)ds − y(s)ds
2 p Γ(α) 4 tp Γ(α − 1)
1P p hR α−1
ti (ti − s)
i
+ y(s)ds + Ii (u(t i ))
2 i=1 ti−1 Γ(α)
1 Pp−1 h R ti (ti − s) α−2 i
+ (tp − ti ) ti−1 y(s)ds + Ii∗ (u(ti ))
2 i=1 Γ(α − 1)
p T − 2t h R (t α−2
i − s)
i
P p ti ∗ (u(t ))
+ ti−1 Γ(α − 1) y(s)ds + Ii i
i=1 4
and
1 R T (T − s)α−2 1P p hR
ti (ti − s)
α−2
∗ (u(t ))
i
c2 = y(s)ds + y(s)ds + Ii i
2 tp Γ(α − 1) 2 i=1 ti−1 Γ(α − 1)
Substituting the value of ci (i = 1, 2) in (2.3) and (2.4), we can get (2.2). Conversely,
assume that u is a solution of the impulsive fractional integral equation (2.2), then by a direct
computation, it follows that the solution given by (2.2) satisfies (2.1).
Remark 2.1 The first three terms of the solution (2.2) correspond to the solution for the prob-
lem without impulses.
R t (t − s)α−1 1 R T (T − s)α−1
T u(t) = tk f (s, u(s))ds − f (s, u(s))ds
Γ(α) 2 tp Γ(α)
T − 2t R T (T − s)α−2 Pk hR
ti (ti − s)
α−1 i
+ tp Γ(α − 1) f (s, u(s))ds + ti−1 f (s, u(s))ds + Ii (u(t i ))
4 i=1 Γ(α)
k−1 α−2
ti (ti − s)
P h R i
+ (tk − ti ) ti−1 f (s, u(s))ds + Ii∗ (u(ti ))
i=1 Γ(α − 1)
k α−2
ti (ti − s)
P h R i
+ (t − tk ) ti−1 f (s, u(s))ds + Ii∗ (u(ti ))
i=1 Γ(α − 1)
1 p α−1
ti (ti − s)
P h R i
− f (s, u(s))ds + I i (u(t i ))
2 i=1 ti−1 Γ(α)
1 p−1
P h R ti (ti − s)α−2 i
− (tp − ti ) ti−1 f (s, u(s))ds + Ii∗ (u(ti ))
2 i=1 Γ(α − 1)
p T − 2t + 2t h R α−2
ti (ti − s)
i
P p ∗ (u(t )) .
− ti−1 Γ(α − 1) f (s, u(s))ds + Ii i
i=1 4
(3.1)
Then the problem (1.1) has a solution if and only if the operator T has a fixed point.
R t (t − s)α−1 1 R T (T − s)α−1
|T u(t)| ≤ tk |f (s, u(s))|ds + |f (s, u(s))|ds
Γ(α) 2 tp Γ(α)
|T − 2t| R T (T − s) α−2 Pk h R ti (ti − s)α−1 i
+ tp Γ(α − 1) |f (s, u(s))|ds + ti−1 |f (s, u(s))|ds + |Ii (u(t i ))|
4 i=1 Γ(α)
k−1
P h R ti (ti − s) α−2 i
+ (tk − ti ) ti−1 |f (s, u(s))|ds + |Ii∗ (u(ti ))|
i=1 Γ(α − 1)
k α−2
ti (ti − s)
P hR i
+ (t − tk ) ti−1 |f (s, u(s))|ds + |Ii∗ (u(ti ))|
i=1 Γ(α − 1)
1P p hR (t − s)α−1 i
ti i
+ |f (s, u(s))|ds + |Ii (u(t i )|)
2 i=1 ti−1 Γ(α)
p−1
1 P h R ti (ti − s) α−2 i
+ (tp − ti ) ti−1 |f (s, u(s))|ds + |Ii∗ (u(ti ))|
2 i=1 Γ(α − 1)
p |T − 2t + 2t| h R α−2
ti (ti − s)
i
P p ∗ (u(t ))|
+ ti−1 Γ(α − 1) |f (s, u(s))|ds + |Ii i
i=1 4
R t (t − s) α−1 L1 R T (T − s) α−1 T L1 R T (T − s)α−2
≤ L1 tk ds + ds + ds
Γ(α) 2 tp Γ(α) 4 tp Γ(α − 1)
3P p h R ti (ti − s)α−1 i 3T p−1 P h R ti (ti − s)α−2 i
+ L1 ti−1 ds + L2 + L1 ti−1 ds + L3
2 i=1 Γ(α) 2 i=1 Γ(α − 1)
7T P p h R ti (ti − s)α−2 i
+ L1 ti−1 ds + L3
4 i=1 Γ(α − 1)
Let Ω = {u ∈ P C(J, R) | kuk < r}. Take u ∈ P C(J, R), such that kuk = r, which means
u ∈ ∂Ω. Then, by the process used to obtain (3.2), we have
n 3(1 + p)T α δ (13p − 5)T α δ1 3pδ2 (13p − 6)T δ3 o
1
|T u(t)| ≤ + + + kuk. (3.4)
2Γ(α + 1) 4Γ(α) 2 4
4 Examples
Example 4.1 Consider the following impulsive anti-periodic fractional boundary value problem
C α u2 (t) + t3 sin u2 (t) − 1, 1
D u(t) = e 0 < t < 1, t 6= ,
3
1 4 ′ 1 sin4 u(t) (4.1)
△u( ) = 5 ln(1 + u (t)), △u ( ) = ,
3 3 3
u(0) = −u(1), u′ (0) = −u′ (1),
Clearly, all the assumptions of Theorem 3.1 hold. Thus, by the conclusion of Theorem 3.1
we can get that the above impulsive anti-periodic fractional boundary value problem (4.1) has
at least one solution.
Example 4.2 Consider the following impulsive anti-periodic fractional boundary value problem
t −u2 (t)
C D α u(t) = ln(1 + 3e )e 1
3 , 0 < t < 1, t 6= ,
3 + sin u(t) 2
1 7 + 2 cos u2 (t) 1 (4.2)
△u( ) = 2
, △u′ ( ) = 8 arctan2 [ln(1 + 2u2 (t))],
2 3 + u (t) 2
u(0) = −u(1), u′ (0) = −u′ (1),
ln(1 + 3e)
It can easily be found that L1 = , L2 = 3, L3 = 2π 2 . Thus, the conclusion of
2
Theorem 3.2 applies and the impulsive fractional boundary value problem (4.2) has at least one
solution.
Acknowledgment
We would like to express our gratitude to the anonymous reviewers and editors for their
valuable comments and suggestions which led to the improvement of the original manuscript.
References
[1] A.A. Kilbas, H.M. Srivastava, J.J. Trujillo, Theory and Applications of Fractional Differential Equa-
tions, North-Holland Mathematics Studies, 204. Elsevier Science B.V., Amsterdam, 2006.
[2] J. Sabatier, O.P. Agrawal, J.A.T. Machado (Eds.), Advances in Fractional Calculus: Theoretical
Developments and Applications in Physics and Engineering, Springer, Dordrecht, 2007.
[4] M. P. Lazarević, A. M. Spasić, Finite-time stability analysis of fractional order time-delay systems:
Gronwall’s approach, Math. Comput. Model., 49, (2009) 475-481.
[5] Z.B. Bai, H.S. Lü, Positive solutions of boundary value problems of nonlinear fractional differential
equation, J. Math. Anal. Appl. 311 (2005) 495-505.
[6] R.P. Agarwal, M. Belmekki, M. Benchohra, A survey on semilinear differential equations and inclu-
sions involving Riemann-Liouville fractional derivative, Adv. Difference Equ. 2009, Art. ID 981728,
47 pp.
[7] M. Benchohra, S. Hamani, S.K. Ntouyas, Boundary value problems for differential equations with
fractional order and nonlocal conditions, Nonlinear Anal. 71 (2009) 2391-2396.
[8] M.A. Darwish, S.K. Ntouyas, On initial and boundary value problems for fractional order mixed
type functional differential inclusions, Comput. Math. Appl. 59 (2010) 1253-1265.
[9] K. Balachandran, J. J. Trujillo, The nonlocal Cauchy problem for nonlinear fractional integrodiffer-
ential equations in Banach spaces, Nonlinear Anal. 72 (2010) 4587-4593.
[10] M. Belmekki, J.J. Nieto, R. Rodriguez-Lopez, Existence of Periodic Solution for a Nonlinear Frac-
tional Differential Equation, Bound. Value Probl. 2009 (2009) 18 pages. Article ID 324561.
[11] B. Ahmad, J.J. Nieto, Existence results for a coupled system of nonlinear fractional differential
equations with three-point boundary conditions, Comput. Math. Appl. 58 (2009) 1838-1843.
[12] B. Ahmad, J.J. Nieto, Existence results for nonlinear boundary value problems of fractional inte-
grodifferential equations with integral boundary conditions, Bound. Value Probl. 2009 (2009) 11
pages. Article ID 708576.
[13] S.Q. Zhang, Positive solutions to singular boundary value problem for nonlinear fractional differential
equation, Comput. Math. Appl. 59 (2010), 1300-1309.
[14] V. Lakshmikantham, D.D. Bainov, P.S. Simeonov, Theory of Impulsive Differential Equations, World
Scientific, Singapore, 1989.
[15] Y.V. Rogovchenko, Impulsive evolution systems: Main results and new trends, Dynam. Contin.
Discrete Impuls. Systems, 3 (1997) 57-88.
[16] S.T. Zavalishchin, A.N. Sesekin, Dynamic Impulse Systems. Theory and Applications, Kluwer Aca-
demic Publishers Group, Dordrecht, 1997.
[17] J.X. Sun, Nonlinear Functional Analysis and its Application, Science Press, Beijing, 2008.
[18] G. Wang, L. Zhang, G. Song, Extremal solutions for the first order impulsive functional differential
equations with upper and lower solutions in reversed order, J. Comput. Appl. Math. 235 (2010)
325-333.
[19] R.P. Agarwal, M. Benchohra, B.A. Slimani, Existence results for differential equations with frac-
tional order and impulses, Mem. Differential Equations Math. Phys. 44 (2008) 1-21.
[21] B. Ahmad, S. Sivasundaram, Existence of solutions for impulsive integral boundary value problems
of fractional order, Nonlinear Anal.: Hybrid Syst. 4 (2010) 134-141.
[22] G.M. Mophou, Existence and uniqueness of mild solutions to impulsive fractional differential equa-
tions, Nonlinear Anal. 72 (2010) 1604-1615.
[23] S. Abbas, M. Benchohra, Upper and lower solutions method for impulsive partial hyperbolic differ-
ential equations with fractional order Nonlinear Anal.: Hybrid Syst., 4 (2010) 406-413.
[24] R. P. Agarwal, B. Ahmad, Existence of solutions for impulsive anti-periodic boundary value problems
of fractional semilinear evolution equations, Dyna. Contin. Discrete Impuls. Syst., Ser. A, Math.
Anal., to appear.
[25] X. Zhang, X. Huang, Z. Liu, The existence and uniqueness of mild solutions for impulsive fractional
equations with nonlocal conditions and infinite delay, Nonlinear Anal.: Hybrid Syst. 4 (2010) 775-
781.
[26] Y. Tian, Z. Bai, Existence results for the three-point impulsive boundary value problem involving
fractional differential equations, Comput. Math. Appl. 59 (2010) 2601-2609.
[27] P. Souplet, Optimal uniqueness condition for the antiperiodic solutions of some nonlinear parabolic
equations. Nonlinear Anal. 32 (1998), 279-286.
[28] F.J. Delvos, L. Knoche, Lacunary interpolation by antiperiodic trigonometric polynomials. BIT 39
(1999), 439-450.
[29] A. Cabada, D.R. Vivero, Existence and uniqueness of solutions of higher-order antiperiodic dynamic
equations. Adv. Difference Equ. 4 (2004), 291-310.
[30] R. P. Agarwal, A. Cabada, V. Otero-Espinar, S. Dontha, Existence and uniqueness of solutions for
anti-periodic difference equations, Archiv. Inequal. Appl. 2 (2004), 397-411.
[31] M. Nakao, Existence of an anti-periodic solution for the quasilinear wave equation with viscosity. J.
Math. Anal. Appl. 204 (1996), 754-764.
[32] Y. Chen, J.J. Nieto, D. O’Regan, Antiperiodic solutions for fully nonlinear first-order differential
equations. Math. Comput. Modelling 46 (2007), 1183-1190.
[33] B. Ahmad, J. J. Nieto, Existence and approximation of solutions for a class of nonlinear impulsive
functional differential equations with anti-periodic boundary conditions. Nonlinear Anal. 69 (2008),
3291-3298.
[34] J. Shao, Anti-periodic solutions for shunting inhibitory cellular neural networks with time-varying
delays. Phys. Lett. A 372 (2008), 5011-5016.
[35] B. Liu, An anti-periodic LaSalle oscillation theorem for a class of functional differential equations.
J. Comput. Appl. Math. 223 (2009), 1081-1086.
[37] B. Ahmad, J.J. Nieto, Existence of solutions for anti-periodic boundary value problems involving
fractional differential equations via Leray-Schauder degree theory, Topol. Methods Nonlinear Anal.
35 (2010), 295-304.
[38] B. Ahmad, Existence of solutions for fractional differential equations of order q ∈ (2, 3] with anti-
periodic boundary conditions, J. Appl. Math. Comput. 34 (2010) 385-391.
[39] B. Ahmad, J.J. Nieto, Existence of solutions for impulsive anti-periodic boundary value problems
of fractional order, Taiwanese Journal of Mathematics, to appear.
[40] G. Wang, B. Ahmad, L. Zhang, Impulsive anti-periodic boundary value problem for nonlinear
differential equations of fractional order, Nonlinear Anal. 74 (2011) 792-804.