Mixed Monotone Iterative Technique for Singular Hadamard Fractional Integro-Differential Equations in Banach Spaces ()
1. Introduction
In this work, we consider the following boundary value problem (BVP for short) in a Banach space E
(1.1)
where
,
denotes left-sided Hadamard fractional derivative of order
with the low limit a. The nonlinear term
is an E-value continuous function on
and may be singular at
. The operator G is given by
and
,
,
. The function
.
and
,
.
denotes the zero element in E. Throughout the article, the integrals of the functions with values in E are taken in Bochner’s sense.
Fractional calculus and fractional differential equations have been studied extensively during the last decades. An effective technique for discussing the existence of solutions for initial and boundary value problems of differential equations is the monotone iterative technique combined with the lower and upper solutions method. This method is widely used to investigate Riemann-Liouville and Caputo type fractional differential equations, see, for example, [1] - [11] and the references therein. In [12], the Hadamard fractional calculus was introduced. In the definition of Hadamard fractional derivative, the kernel of the integral contains a logarithmic function of arbitrary exponent which is different from the fractional derivatives of Riemann-Liouville and Caputo type. Some recent contributions to the existence of solutions for Hadamard fractional differential equations via various fixed point theorems can be found in [13] - [18]. For details as regards the application of the iterative method in Hadamard fractional differential equations, see [19] [20] [21] [22] and the references therein.
In [20], Pei et al. discussed the existence of positive solutions for Hadamard fractional integro-differential equation
where
,
are given constants and satisfy
. The authors not only established the existence
of positive solutions but also sought the positive minimal and maximal solutions and got two explicit monotone iterative sequences which converge to the extremal solutions.
In [22], by employing the monotone iterative method, the authors investigated the iterative positive solutions of nonlocal Hadamard fractional boundary value problem with nonlocal Hadamard integral and discrete boundary conditions
where
,
, a and b are real constants, and
is positive real constants. Some explicit monotone iterative sequences were established for approximating the extreme positive solutions and the unique positive solution.
It is worth pointing out that the iteration sequences in [19] [20] [21] [22] are constructed from the appropriate initial functions rather than from the lower and upper solutions. The literature on the monotone iterative technique and the method of lower and upper solutions for Hadamard fractional differential equations is scarce. In [23], using the method of lower and upper solutions and its associated monotone iterative technique, the author investigated the existence of extremal solutions of the following system of nonlinear Hadamard fractional differential equations with Cauchy initial value conditions
where
, f and g are continuous on
.
,
.
and
are the left-sided Hadamard fractional derivative and integral of order
, respectively.
To the best of our knowledge, the existence of solutions for fractional BVP (1.1) in ordered Banach spaces has not been considered up to now. In this work, combining the theory of noncompactness measure with mixed monotone iterative technique and coupled lower and upper L-quasisolutions, we prove the existence of extremal L-quasisolutions of BVP (1.1). Also, we establish the uniqueness result of solutions between coupled lower and upper L-quasisolutions. It is allowable in our main result that the nonlinear term
is non-decreasing with respect to one variable x and non-increasing with respect to another variable x. Moreover, due to the weighted boundary value condition in (1.1), we establish the explicit solution to the weighted Cauchy type problem of linear Hadamard fractional differential equations, which is different from Lemma 2.1 in [23] and Theorem 4.5 in [24]. Consequently, the results got in this paper will enrich the existing related work and also can serve as an interesting complement to the work in [23] [24].
2. Preliminaries
In this section, we introduce some notations and preliminary facts which are used throughout this paper. Let
and E be an ordered Banach space with the norm
and the partial order “
”, whose positive cone
is normal with normal constant N. Let
denotes the ordered Banach space of all continuous E-value functions on the interval J with the norm
and the partial order “
” deduced by the positive cone
.
is also normal with the same normal constant N. Let
for
.
Evidently,
also is an ordered Banach space with the norm
and the partial order “
” deduced by the positive cone
. The normal constant of
also is N. It is easy to verify that
, where
denotes the Banach space of all E-value Bochner integrable functions defined on J with the norm
.
A function
is called a solution of BVP (1.1) if it satisfies the equation and the boundary value condition in (1.1).
Now let us recall some fundamental facts of the notion of Kuratowski noncompactness measure.
Definition 1. ( [25]) Let E be a Banach space and let
be the family of bounded subsets of E. The Kuratowski measure of noncompactness is the map
defined by
Property 1. ( [25]) The Kuratowski measure of noncompactness satisfies some useful properties.
1)
is compact (B is relatively compact), where
denotes the closure of B.
2)
.
3)
.
4)
.
Denote the Kuratowski noncompactness measures of bounded sets in
by
. Similar to the proof of Lemma 2.1 in [26], we can obtain the following useful result.
Lemma 1. Let
be bounded and equicontinuous. Then
where
.
The following lemma is necessary in the proof of our main results.
Lemma 2. ( [27] [28] [29]) Let E be a Banach space,
be a countable set with
for a.a.
and every
, where
. Then
is Lebesgue integrable on J, and
.
Next, we review definitions and some useful properties of Hadamard fractional integrals and derivatives which are used in the following sequels.
Definition 2. ( [12] [24] [30]) Let
be a finite or infinite interval of the half-axis
and
. The left-sided Hadamard fractional integral and fractional derivative of order
are defined respectively by
and
provided that the right-hand sides are pointwise defined on
, where
.
Property 2. ( [24]) If
, then
Property 3. ( [24]) Let
, then
1)
,
.
2)
for
.
3)
for
, where
.
3. Main Results
Definition 3. Let
and
. We call
coupled lower and upper L-quasisolutions of BVP (1.1) if v and w satisfy
(3.1)
and
(3.2)
Remark 1. Only choose “=” in (3.1) and (3.2), we call v and w coupled L-quasisolutions of BVP (1.1). In particular, v and w are coupled quasisolutions of BVP (1.1) for
. Furthermore, if
, then u is a solution of BVP (1.1).
In what follows, we assume that v and w are coupled lower and upper L-quasisolutions of BVP (1.1), respectively, and
. Define the ordered interval in space
Let
be a constant and
. Consider the weighted linear initial value problem in E
(3.3)
Lemma 3. For any
,
, the unique solution of (3.3) in the space
has the following form
(3.4)
where
is the Mittag-Leffler function defined by
.
Proof. According to Theorem 3.32 in [24], we assert that (3.3) has a unique solution in the space
. Applying Theorem 4.5 and similar relations to Lemma 3.2 on Hadamard fractional integrals in [24], we can prove this lemma. In what follows we use the method of successive approximations to solve (3.3). First of all, by Property 3, we derive that (3.3) is equivalent to the following integral equation
(3.5)
Now we set
(3.6)
and
(3.7)
Using (3.6), (3.7) and taking Property 2 into account we arrive at
(3.8)
Similarly, using (3.6), (3.7), (3.8) and Property 2 we obtain
Continuing this process, we derive the following relation for
:
Taking the limit as
, we obtain the explicit solution
to the integral Equation (3.5):
replacing the index of summation k by
we have
and thus, using the expression of the Mittag-Leffler function, we get the explicit solution (3.4) to the problem (3.3).
Remark 2. ( [31] [32] [33]) For
, the well-known two-parameter Mittag-Leffler function
,
is continuous on
. Moreover, Mittag-Leffler function has the following useful properties:
1) For
,
,
and
,
.
2) For
and
,
.
3) For all
,
is decreasing in t for
and increasing in t for
.
4) For
,
and
,
Equivalently,
Remark 3. By Remark 2 and (3.4), if
,
, the solution of (3.3)
. This comparison result will play a very important role in this paper.
Further, for any
, let
and consider the weighted linear initial value problem
(3.9)
Lemma 3 indicates that (3.9) has exactly one solution
given by
(3.10)
For any
, define the operator T as
Then, obviously, the coupled fixed points of operator T are exactly the coupled L-quasisolutions of (1.1) and the fixed points of T are the solutions of (1.1).
We work with the following conditions on the functions f and g in (1.1).
(H0)
for any
.
(H1) There exist constants
such that
where
,
and
.
(H2)There exist constants
such that
where
,
.
(H3)There exist constants
such that
where
,
.
(H4)There exists a constant
such that
for any mixed monotone sequence
. Moreover,
where
,
.
(H5)There exist constants
such that for
,
where
,
and
. Moreover,
Now we are in the position to state our main results.
Theorem 1. Let E be an ordered Banach space, whose positive cone P is normal. Assume that
is continuous,
,
are coupled lower and upper L-quasisolutions of BVP (1.1), respectively. The conditions (H0) - (H4) are valid. Then BVP (1.1) has coupled minimal and maximal L-quasisolutions
with
. Moreover, there exist monotone iterative sequences
starting from v and w which converge to the coupled minimal and maximal L-quasisolutions
and
respectively.
Proof. For clarity, we divide the proof into the following several steps.
Step 1: First of all, we need to show that the operator
is well defined. Indeed, for any
, by the condition (H1), we have for
By the normality of cone P and (H0), there exists
such that
, that is,
(3.11)
Combining (3.10), (3.11), Property 2 and Remark 2, for any
we have
this implies that the integral in (3.10) exists and belongs to
.
Step 2: We show that the operator T is equicontinuous. Let
and
with
. Evidently,
if
and
. In the following we set
. In view of the condition (H2), for any
, one has
and
By the normality of the cone P, there exists a constant
such that
Thus we get
(3.12)
Note that
is continuous. The expression
has limit zero as
. Next we estimate the integral
. By (3.11) and Remark 2, we obtain
(3.13)
Hence, the expression
has limit zero as
. Observing Remark 2 and nonincreasing property of the function
for
, for the rest term
, we can deduce
(3.14)
The relation (3.13) ensures that
has limit zero as
. Using (2) and (4) in Remark 2 and by simple calculations, we know that
so we have
(3.15)
Consequently, the relations (3.12), (3.13), (3.14) and (3.15) guarantee that the operator T is equicontinuous.
Step 3: In this part we show that
is a continuous mixed monotone operator.
Firstly, from (3.10), (3.11), the continuity of f and g together with the Lebesgue dominated convergence theorem, it is easy to know T is continuous.
Secondly, we prove T is a mixed monotone operator, that is,
for
with
. Since by (H2)
we have
(3.16)
Moreover, by (H1) we obtain
that is,
(3.17)
As a result, (3.10), (3.16) and (3.17) ensure
.
Finally, we prove
for any
. Since T is a mixed monotone operator,
for any
, it is sufficient to prove
and
. Let
, then by (3.1)
and by Lemma 3,
Thus, for any
, one gets
that is
. Similarly, we can derive
.
Step 4: Now, we can define two sequences
and
in
by the iterative scheme
and
, where
and
. Then from the mixed monotonicity of T, it follows that
(3.18)
Next we verify
and
are convergent in J. For convenience, let
and
. Note that
and
by Property 1. Observing that for any
with
, by (H3),
together with (3.16) and the normality of the cone P, we can find
hence, for any equicontinuous sequence
, we arrive at by Lemma 1
thus, in view of Lemma 1, Lemma 2, Property 1, Property 2, condition (H4) and (3.10), it follows that
(3.19)
Similarly,
(3.20)
Combining (H4), (3.19), (3.20) and Lemma 1 we have
. Then Property 1 guarantees that
and
are relatively compact sets of
, and thus there exist subsequences converging to
. Furthermore, from monotonicity (3.18) we easily obtain that
and
are convergent in
, and the limits
satisfy
Moreover,
. By the monotonicity of T, it is easy to deduce that
and
are the minimal and maximal coupled fixed points of T in
. Therefore,
and
are the minimal and maximal coupled L-quasisolutions of the problem (1.1) in
, respectively. We complete the proof of this theorem.
If E is weakly sequentially complete, Theorem 2.2 in [34] asserts that any monotonic and order-bounded sequence in E is precompact. In this situation, the conditions (H3) and (H4) which ensure convergence of the monotonic and order-bounded sequences
and
in Theorem 1 are superfluous. As a result, we obtain the following corollary.
Corollary 1. Let E be an ordered and weakly sequentially complete Banach space, whose positive cone P is normal. Assume that
is continuous,
,
are coupled lower and upper L-quasisolutions of BVP (1.1), respectively. The conditions (H0), (H1) and (H2) are valid. Then BVP (1.1) has coupled minimal and maximal L-quasisolutions
with
. Moreover, there exist monotone iterative sequences
starting from v and w which converge to the coupled minimal and maximal L-quasisolutions
and
respectively.
Obviously, if the cone P is regular, then monotonic and order-bounded sequences
and
obtained in Theorem 1 are convergent. Consequently, we have the following corollary from Theorem 1.
Corollary 2. Let E be an ordered Banach space, whose positive cone P is regular. Assume that
is continuous,
,
are coupled lower and upper L-quasisolutions of BVP (1.1), respectively. The conditions (H0), (H1) and (H2) are valid. Then BVP (1.1) has coupled minimal and maximal L-quasisolutions
with
. Moreover, there exist monotone iterative sequences
starting from v and w which converge to the coupled minimal and maximal L-quasisolutions
and
respectively.
Now, we discuss the existence of solutions to the problem (1.1) in
.
Theorem 2. Let E be an ordered Banach space, whose positive cone P is normal. Assume that
is continuous,
,
are coupled lower and upper L-quasisolutions of BVP (1.1), respectively. The conditions (H0) - (H5) are valid. Then BVP (1.1) has a unique solution u in
, which can be obtained from monotone iterative sequences
starting from v and w, respectively.
Proof. From the proof of Theorem 1, we know that the iterative sequences
and
starting from v and w are convergent and satisfy (3.18). Next, we verify that there exists a unique
such that
. For any
, by (H3) and (H5), we obtain
From the normality of the cone P, it follows that
Therefore,
Again using the above inequality, we get
which implies
as
. Then there exists
such that
. So let
in
, we have
, which means that u is a unique solution of problem (1.1) in
. This completes the proof of Theorem 2.
If E is weakly sequentially complete, then the condition (H4) is unnecessary in Theorem 2.
Corollary 3. Let E be an ordered and weakly sequentially complete Banach space, whose positive cone P is normal. Assume that
is continuous,
,
are coupled lower and upper L-quasisolutions of BVP (1.1), respectively. The conditions (H0) - (H3) and (H5) are valid. Then BVP (1.1) has a unique solution u in
, which can be obtained from monotone iterative sequences
starting from v and w, respectively.
4. Example
Let
with the norm
and
. Then E is a weakly sequentially complete Banach space and P is a normal cone in E. Consider the BVP of infinite system in E
(4.1)
Evidently, (4.1) can be regarded as a BVP of the form (1.1) in E. In this situation,
,
,
and
, in which
where
, and
It is clear
and
for any
,
. Let
then
,
,
and
Moreover, set
, one has
and
Hence,
are coupled lower and upper quasisolutions of BVP (4.1).
The condition (H1) is satisfied. In fact, let
,
and
,
be such that
,
and
. It is easy to get
for any
.
Furthermore, for
,
, we can obtain
Thus, (H2) is valid with
. Therefore, Corollary 1 ensures BVP (4.1) has coupled minimal and maximal quasisolutions
with
.
5. Conclusion
This paper explores a nonlinear boundary value problem involving Hadamard fractional derivatives and singularity in Banach spaces. Under suitable monotonicity conditions and noncompactness measure conditions, the existence of extremal L quasisolutions and uniqueness of solutions between coupled lower and upper L quasisolutions are derived from mixed monotone iterative technique and coupled lower and upper L quasisolutions method. Similarly, applying lower and upper solutions method and monotone iterative technique, we can investigate the existence of extremal solutions and uniqueness of solutions between lower and upper solutions to the problem (1.1) with the nonlinearity
.
Funding
This work is supported by the Fundamental Research Funds for the Central Universities (2021YJSLX03, 2022YJSLX02), the National Natural Science Foundation of China (12071302) and the Postgraduate Teaching Reform Project of China University of Mining and Technology, Beijing (YJG202200701).