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Boundary value problems for fractional differential equations

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Abstract

In this paper we study the existence of solutions of nonlinear fractional differential equations at resonance. By using the coincidence degree theory, some results on the existence of solutions are obtained.

MSC: 34A08, 34B15.

1 Introduction

In recent years, the fractional differential equations have received more and more attention. The fractional derivative has been occurring in many physical applications such as a non-Markovian diffusion process with memory [1], charge transport in amorphous semiconductors [2], propagations of mechanical waves in viscoelastic media [3], etc. Phenomena in electromagnetics, acoustics, viscoelasticity, electrochemistry, and material science are also described by differential equations of fractional order (see [4]–[9]).

Recently boundary value problems (BVPs for short) for fractional differential equations have been studied in many papers (see [10]–[33]).

In [10], by means of a fixed point theorem on a cone, Agarwal et al. considered two-point boundary value problem at nonresonance given by

{ D 0 + α x ( t ) + f ( t , x ( t ) , D 0 + μ x ( t ) ) = 0 , x ( 0 ) = x ( 1 ) = 0 ,

where 1<α<2, μ>0 are real numbers, αμ1 and D 0 + α is the Riemann-Liouville fractional derivative.

Zhao et al.[18] studied the following two-point BVP of fractional differential equations:

{ D 0 + α x ( t ) = f ( t , x ( t ) ) , t ( 0 , 1 ) , x ( 0 ) = x ( 0 ) = x ( 1 ) = 0 ,

where D 0 + α denotes the Riemann-Liouville fractional differential operator of order α, 2<α3. By using the lower and upper solution method and fixed point theorem, they obtained some new existence results.

Liang and Zhang [19] studied the following nonlinear fractional boundary value problem:

{ D 0 + α x ( t ) = f ( t , x ( t ) ) , t ( 0 , 1 ) , x ( 0 ) = x ( 0 ) = x ( 0 ) = x ( 1 ) = 0 ,

where 3<α4 is a real number, D 0 + α is the Riemann-Liouville fractional differential operator of order α. By means of fixed point theorems, they obtained results on the existence of positive solutions for BVPs of fractional differential equations.

In [20], Bai considered the boundary value problem of the fractional order differential equation

{ D 0 + α x ( t ) + a ( t ) f ( t , x ( t ) , x ( t ) ) , t ( 0 , 1 ) , x ( 0 ) = x ( 0 ) = x ( 0 ) = x ( 1 ) = 0 ,

where 3<α4 is a real number, D 0 + α is the Riemann-Liouville fractional differential operator of order α.

Motivated by the above works, in this paper, we consider the following BVP of fractional equation at resonance

{ D 0 + α x ( t ) = f ( t , x ( t ) , x ( t ) , x ( t ) , x ( t ) ) , t ( 0 , 1 ) , x ( 0 ) = x ( 0 ) = x ( 0 ) = 0 , x ( 0 ) = x ( 1 ) ,
(1.1)

where D 0 + α denotes the Caputo fractional differential operator of order α, 3<α4. f:[0,1]× R 4 ×R is continuous.

The rest of this paper is organized as follows. Section 2 contains some necessary notations, definitions and lemmas. In Section 3, we establish a theorem on existence of solutions for BVP (1.1) under nonlinear growth restriction of f, basing on the coincidence degree theory due to Mawhin (see [34]). Finally, in Section 4, an example is given to illustrate the main result.

2 Preliminaries

In this section, we introduce notations, definitions and preliminary facts which are used throughout this paper.

Let X and Y be real Banach spaces and let L:domLXY be a Fredholm operator with index zero, and P:XX, Q:YY be projectors such that

Im P = Ker L , Ker Q = Im L , X = Ker L Ker P , Y = Im L Im Q .

It follows that

L | dom L Ker P :domLKerPImL

is invertible. We denote the inverse by K P .

If Ω is an open bounded subset of X, and domL Ω ¯ , the map N:XY will be called L-compact on Ω ¯ if QN( Ω ¯ ) is bounded and K P (IQ)N: Ω ¯ X is compact, where I is identity operator.

Lemma 2.1

([34])

If Ω is an open bounded set, letL:domLXYbe a Fredholm operator of index zero andN:XYL-compact on Ω ¯ . Assume that the following conditions are satisfied:

  1. (1)

    LxλNx for every (x,λ)[(domLKerL)]Ω×(0,1);

  2. (2)

    NxImL for every xKerLΩ;

  3. (3)

    deg(QN | Ker L ,KerLΩ,0)0, where Q:YY is a projection such that ImL=KerQ.

Then the equationLx=Nxhas at least one solution indomL Ω ¯ .

Definition 2.1

The Riemann-Liouville fractional integral operator of order α>0 of a function x is given by

I 0 + α x(t)= 1 Γ ( α ) 0 t ( t s ) α 1 x(s)ds,

provided that the right side integral is pointwise defined on (0,+).

Definition 2.2

The Caputo fractional derivative of order α>0 of a function x with x ( n 1 ) absolutely continuous on [0,1] is given by

D 0 + α x(t)= I 0 + n α d n x ( t ) d t n = 1 Γ ( n α ) 0 t ( t s ) n α 1 x ( n ) (s)ds,

where n=[α].

Lemma 2.2

([35])

Letα>0andn=[α]. If x ( n 1 ) AC[0,1], then

I 0 + α D 0 + α x(t)=x(t) k = 0 n 1 x ( k ) ( 0 ) k ! t k .

In this paper, we denote X= C 3 [0,1] with the norm x X =max{ x , x , x , x } and Y=C[0,1] with the norm y Y = y , where x = max t [ 0 , 1 ] |x(t)|. Obviously, both X and Y are Banach spaces.

Define the operator L:domLXY by

Lx= D 0 + α x,
(2.1)

where

domL= { x X D 0 + α x ( t ) Y , x ( 0 ) = x ( 0 ) = x ( 0 ) = 0 , x ( 0 ) = x ( 1 ) } .

Let N:XY be the operator

Nx(t)=f ( t , x ( t ) , x ( t ) , x ( t ) , x ( t ) ) ,t[0,1].

Then BVP (1.1) is equivalent to the operator equation

Lx=Nx,xdomL.

3 Main result

In this section, a theorem on existence of solutions for BVP (1.1) will be given.

Theorem 3.1

Letf:[0,1]× R 4 Rbe continuous. Assume that

(H1): there exist nonnegative functionsa,b,c,d,eC[0,1]withΓ(α2)2( b 1 + c 1 + d 1 + e 1 )>0such that

| f ( t , u , v , w , x ) | a ( t ) + b ( t ) | u | + c ( t ) | v | + d ( t ) | w | + e ( t ) | x | , t [ 0 , 1 ] , ( u , v , w , x ) R 4 ,

where a 1 = a , b 1 = b , c 1 = c , d 1 = d , e 1 = e ;

(H2): there exists a constantB>0such that for allxRwith|x|>Beither

xf(t,u,v,w,x)>0,t[0,1],(u,v,w) R 3

or

xf(t,u,v,w,x)<0,t[0,1],(u,v,w) R 3 .

Then BVP (1.1) has at least one solution in X.

Now, we begin with some lemmas below.

Lemma 3.1

Let L be defined by (2.1), then

KerL= { x X | x ( t ) = x ( 0 ) 6 t 3 , t [ 0 , 1 ] } ,
(3.1)
ImL= { y Y | 0 1 ( 1 s ) α 4 y ( s ) d s = 0 } .
(3.2)

Proof

By Lemma 2.2, D 0 + α x(t)=0 has solution

x(t)=x(0)+ x (0)t+ x ( 0 ) 2 t 2 + x ( 0 ) 6 t 3 .

Combining with the boundary value condition of BVP (1.1), one sees that (3.1) holds.

For yImL, there exists xdomL such that y=LxY. By Lemma 2.2, we have

x(t)= 1 Γ ( α ) 0 t ( t s ) α 1 y(s)ds+x(0)+ x (0)t+ x ( 0 ) 2 t 2 + x ( 0 ) 6 t 3 .

Then we have

x (t)= 1 Γ ( α 3 ) 0 t ( t s ) α 4 y(s)ds+ x (0).

By the conditions of BVP (1.1), we see that y satisfies

0 1 ( 1 s ) α 4 y(s)ds=0.

Thus we get (3.2). On the other hand, suppose yY and satisfies 0 1 ( 1 s ) α 4 y(s)ds=0. Let x(t)= I 0 + α y(t), then xdomL and D 0 + α x(t)=y(t). So yImL. The proof is complete. □

Lemma 3.2

Let L be defined by (2.1), then L is a Fredholm operator of index zero, and the linear continuous projector operatorsP:XXandQ:YYcan be defined as

P x ( t ) = x ( 0 ) 6 t 3 , t [ 0 , 1 ] , Q y ( t ) = ( α 3 ) 0 1 ( 1 s ) α 4 y ( s ) d s , t [ 0 , 1 ] .

Furthermore, the operator K P :ImLdomLKerPcan be written by

K P y(t)= 1 Γ ( α ) 0 t ( t s ) α 1 y(s)ds,t[0,1].

Proof

Obviously, ImP=KerL and P 2 x=Px. It follows from x=(xPx)+Px that X=KerP+KerL. By a simple calculation, we get KerLKerP={0}. Then we get

X=KerLKerP.

For yY, we have

Q 2 y=Q(Qy)=Qy(α3) 0 1 ( 1 s ) α 4 ds=Qy.

Let y=(yQy)+Qy, where yQyKerQ=ImL, QyImQ. It follows from KerQ=ImL and Q 2 y=Qy that ImQImL={0}. Then we have

Y=ImLImQ.

Thus

dimKerL=dimImQ=codimImL=1.

This means that L is a Fredholm operator of index zero.

From the definitions of P, K P , it is easy to see that the generalized inverse of L is K P . In fact, for yImL, we have

L K P y= D 0 + α I 0 + α y=y.
(3.3)

Moreover, for xdomLKerP, we get x(0)= x (0)= x (0)= x (0)=0. By Lemma 2.2, we obtain

I 0 + α Lx(t)= I 0 + α D 0 + α x(t)=x(t)+x(0)+ x (0)t+ x ( 0 ) 2 t 2 + x ( 0 ) 6 t 3 ,

which together with x(0)= x (0)= x (0)= x (0)=0 yields

K P Lx=x.
(3.4)

Combining (3.3) with (3.4), we know that K P = ( L | dom L Ker P ) 1 . The proof is complete. □

Lemma 3.3

AssumeΩXis an open bounded subset such thatdomL Ω ¯ , then N is L-compact on Ω ¯ .

Proof

By the continuity of f, we can see that QN( Ω ¯ ) and K P (IQ)N( Ω ¯ ) are bounded. So, in view of the Arzelà-Ascoli theorem, we need only prove that K P (IQ)N( Ω ¯ )X is equicontinuous.

From the continuity of f, there exists constant A>0 such that |(IQ)Nx|A, x Ω ¯ , t[0,1]. Furthermore, denote K P , Q = K P (IQ)N and for 0 t 1 < t 2 1, x Ω ¯ , we have

| ( K P , Q x ) ( t 2 ) ( K P , Q x ) ( t 1 ) | 1 Γ ( α ) | 0 t 2 ( t 2 s ) α 1 ( I Q ) N x ( s ) d s 0 t 1 ( t 1 s ) α 1 ( I Q ) N x ( s ) d s | A Γ ( α ) [ 0 t 1 ( t 2 s ) α 1 ( t 1 s ) α 1 d s + t 1 t 2 ( t 2 s ) α 1 d s ] = A Γ ( α + 1 ) ( t 2 α t 1 α ) , | ( K P , Q x ) ( t 2 ) ( K P , Q x ) ( t 1 ) | A Γ ( α ) ( t 2 α 1 t 1 α 1 ) , | ( K P , Q x ) ( t 2 ) ( K P , Q x ) ( t 1 ) | A Γ ( α 1 ) ( t 2 α 2 t 1 α 2 ) ,

and

| ( K P , Q x ) ( t 2 ) ( K P , Q x ) ( t 1 ) | = 1 Γ ( α 3 ) | 0 t 2 ( t 2 s ) α 4 ( I Q ) N x ( s ) d s 0 t 1 ( t 1 s ) α 4 ( I Q ) N x ( s ) d s | A Γ ( α 3 ) [ 0 t 1 ( t 1 s ) α 4 ( t 2 s ) α 4 d s + t 1 t 2 ( t 2 s ) α 4 d s ] A Γ ( α 2 ) [ t 1 α 3 t 2 α 3 + 2 ( t 2 t 1 ) α 3 ] .

Since t α , t α 1 , t α 2 , and t α 3 are uniformly continuous on [0,1], we see that K P , Q ( Ω ¯ )C[0,1], ( K P , Q ) ( Ω ¯ )C[0,1], ( K P , Q ) ( Ω ¯ )C[0,1] and ( K P , Q ) ( Ω ¯ )C[0,1] are equicontinuous. Thus, we find that K P , Q : Ω ¯ X is compact. The proof is completed. □

Lemma 3.4

Suppose (H1), (H2) hold, then the set

Ω 1 = { x dom L Ker L L x = λ N x , λ ( 0 , 1 ) }

is bounded.

Proof

Take x Ω 1 , then NxImL. By (3.2), we have

0 1 ( 1 s ) α 4 f ( s , x ( s ) , x ( s ) , x ( s ) , x ( s ) ) ds=0.

Then, by the integral mean value theorem, there exists a constant ξ(0,1) such that f(ξ,x(ξ), x (ξ), x (ξ), x (ξ))=0. Then from (H2), we have | x (ξ)|B.

From xdomL, we get x(0)=0, x (0)=0, and x (0)=0. Therefore

| x ( t ) | = | x ( 0 ) + 0 t x ( s ) d s | x , | x ( t ) | = | x ( 0 ) + 0 t x ( s ) d s | x ,

and

| x ( t ) | =|x(0)+ 0 t x (s)ds| x .

That is

x x x x .
(3.5)

By Lx=λNx and xdomL, we have

x(t)= λ Γ ( α ) 0 t ( t s ) α 1 f ( s , x ( s ) , x ( s ) , x ( s ) , x ( s ) ) ds+ 1 6 x (0) t 3 .

Then we get

x (t)= λ Γ ( α 3 ) 0 t ( t s ) α 4 f ( s , x ( s ) , x ( s ) , x ( s ) , x ( s ) ) ds+ x (0).

Take t=ξ, we get

x (ξ)= λ Γ ( α 3 ) 0 ξ ( ξ s ) α 4 f ( s , x ( s ) , x ( s ) , x ( s ) , x ( s ) ) ds+ x (0).

Together with | x (ξ)|B, (H1), and (3.5), we have

| x ( 0 ) | | x ( ξ ) | + λ Γ ( α 3 ) 0 ξ ( ξ s ) α 4 | f ( s , x ( s ) , x ( s ) , x ( s ) , x ( s ) ) | d s B + 1 Γ ( α 3 ) 0 ξ ( ξ s ) α 4 [ a ( s ) + b ( s ) | x ( s ) | + c ( s ) | x ( s ) | + d ( s ) | x ( s ) | + e ( s ) | x ( s ) | ] d s B + 1 Γ ( α 3 ) 0 ξ ( ξ s ) α 4 ( a 1 + b 1 x + c 1 x + d 1 x + e 1 x ) d s B + 1 Γ ( α 3 ) 0 ξ ( ξ s ) α 4 [ a 1 + ( b 1 + c 1 + d 1 + e 1 ) x ] d s B + 1 Γ ( α 2 ) [ a 1 + ( b 1 + c 1 + d 1 + e 1 ) x ] .

Then we have

x 1 Γ ( α 3 ) 0 t ( t s ) α 4 | f ( s , x ( s ) , x ( s ) , x ( s ) , x ( s ) ) | d s + | x ( 0 ) | 1 Γ ( α 3 ) 0 t ( t s ) α 4 [ a ( s ) + b ( s ) | x ( s ) | + c ( s ) | x ( s ) | + d ( s ) | x ( s ) | + e ( s ) | x ( s ) | ] d s + x ( 0 ) 1 Γ ( α 3 ) 0 t ( t s ) α 4 ( a 1 + b 1 x + c 1 x + d 1 x + e 1 x ) d s + | x ( 0 ) | 1 Γ ( α 3 ) 0 t ( t s ) α 4 [ a 1 + ( b 1 + c 1 + d 1 + e 1 ) x ] d s + | x ( 0 ) | 1 Γ ( α 2 ) [ a 1 + ( b 1 + c 1 + d 1 + e 1 ) x ] + | x ( 0 ) | B + 2 Γ ( α 2 ) [ a 1 + ( b 1 + c 1 + d 1 + e 1 ) x ] .

Thus, from Γ(α2)2( b 1 + c 1 + d 1 + e 1 )>0, we obtain

x 2 a 1 + Γ ( α 2 ) B Γ ( α 2 ) 2 ( b 1 + c 1 + d 1 + e 1 ) := M 1 .

Thus, together with (3.5), we get

x x x x M 1 .

Therefore,

x X M 1 .

So Ω 1 is bounded. The proof is complete. □

Lemma 3.5

Suppose (H2) holds, then the set

Ω 2 ={xxKerL,NxImL}

is bounded.

Proof

For x Ω 2 , we have x(t)= x ( 0 ) 6 t 3 and NxImL. Then we get

0 1 ( 1 s ) α 4 f ( s , x ( 0 ) 6 s 3 , x ( 0 ) 2 s 2 , x ( 0 ) s , x ( 0 ) ) ds=0,

which together with (H2) implies | x (0)|B. Thus, we have

x X B.

Hence, Ω 2 is bounded. The proof is complete. □

Lemma 3.6

Suppose the first part of (H2) holds, then the set

Ω 3 = { x x Ker L , λ x + ( 1 λ ) Q N x = 0 , λ [ 0 , 1 ] }

is bounded.

Proof

For x Ω 3 , we have x(t)= x ( 0 ) 6 t 3 and

λ x ( 0 ) 6 t 3 + ( 1 λ ) ( α 3 ) × 0 1 ( 1 s ) α 4 f ( s , x ( 0 ) 6 s 3 , x ( 0 ) 2 s 2 , x ( 0 ) s , x ( 0 ) ) d s = 0 .
(3.6)

If λ=0, then | x (0)|B because of the first part of (H2). If λ(0,1], we can also obtain | x (0)|B. Otherwise, if | x (0)|>B, in view of the first part of (H2), one has

λ [ x ( 0 ) ] 2 6 t 3 + ( 1 λ ) ( α 3 ) × 0 1 ( 1 s ) α 4 x ( 0 ) f ( s , x ( 0 ) 6 s 3 , x ( 0 ) 2 s 2 , x ( 0 ) s , x ( 0 ) ) d s > 0 ,

which contradicts (3.6).

Therefore, Ω 3 is bounded. The proof is complete. □

Remark 3.1

Suppose the second part of (H2) hold, then the set

Ω 3 = { x x Ker L , λ x + ( 1 λ ) Q N x = 0 , λ [ 0 , 1 ] }

is bounded.

Proof of Theorem 3.1

Set Ω={xX x X <max{ M 1 ,B}+1}. It follows from Lemmas 3.2 and 3.3 that L is a Fredholm operator of index zero and N is L-compact on Ω ¯ . By Lemmas 3.4 and 3.5, we see that the following two conditions are satisfied:

  1. (1)

    LxλNx for every (x,λ)[(domLKerL)Ω]×(0,1);

  2. (2)

    NxImL for every xKerLΩ.

Take

H(x,λ)=±λx+(1λ)QNx.

According to Lemma 3.6 (or Remark 3.1), we know that H(x,λ)0 for xKerLΩ. Therefore

deg ( Q N | Ker L , Ω Ker L , 0 ) = deg ( H ( , 0 ) , Ω Ker L , 0 ) = deg ( H ( , 1 ) , Ω Ker L , 0 ) = deg ( ± I , Ω Ker L , 0 ) 0 .

So the condition (3) of Lemma 2.1 is satisfied. By Lemma 2.1, we find that Lx=Nx has at least one solution in domL Ω ¯ . Therefore, BVP (1.1) has at least one solution. The proof is complete. □

4 An example

Example 4.1

Consider the following BVP:

{ D 0 + 7 2 x ( t ) = 1 16 ( x 10 ) + t 2 16 e | x | | x | + t 3 16 sin ( x 2 ) , t [ 0 , 1 ] , x ( 0 ) = x ( 0 ) = x ( 0 ) = 0 , x ( 0 ) = x ( 1 ) .
(4.1)

Here

f(t,u,v,w,x)= 1 16 (x10)+ t 2 16 e | v | | w | + t 3 16 sin ( u 2 ) .

Choose a(t)= 3 4 , b(t)=0, c(t)=0, d(t)=0, e(t)= 1 16 , B=10. We get b 1 =0, c 1 =0, d 1 =0, e 1 = 1 16 , and

Γ ( 7 2 2 ) 2( b 1 + c 1 + d 1 + e 1 )>0.

Then all conditions of Theorem 3.1 hold, so BVP (4.1) has at least one solution.

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Acknowledgements

The authors would like to thank the referees very much for their helpful comments and suggestions. This research was supported by the Fundamental Research Funds for the Central Universities (2013QNA33).

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Correspondence to Zhigang Hu.

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The authors declare that they have no competing interests.

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Keywords

  • fractional differential equations
  • boundary value problems
  • resonance
  • coincidence degree theory