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On solutions of a class of three-point fractional boundary value problems
Boundary Value Problems volume 2020, Article number: 11 (2020)
Abstract
Existence results for the three-point fractional boundary value problem
are presented, where \(A, B\in\mathbb{R}\), \(0<\eta<1\), \(1<\alpha\leq2\). \(D^{\alpha}x(t)\) is the conformable fractional derivative, and \(f: [0, 1]\times\mathbb{R}^{2}\to\mathbb{R}\) is continuous. The analysis is based on the nonlinear alternative of Leray–Schauder.
1 Introduction
In recent years, due to the wide application in many engineering and scientific disciplines as the mathematical modeling of systems and processes in the fields of physics, chemistry, aerodynamics, electrodynamics of a complex medium, polymer rheology, etc., the fractional differential equations have been widely studied. An extensive literature related to the existence of solutions of boundary value problems for fractional differential equations addressed by the use of various nonlinear functional analysis method. For example, fixed point theory [5, 7, 9–11, 19, 21, 25–28, 32, 33, 39, 50, 52, 56], the Mawhin continuation method [3, 6, 54, 57], the Green function method [5, 44, 45], the integral operator method [4, 8, 13, 14, 17, 22, 30, 31, 35, 36, 38, 49, 51, 53], the upper and lower solution method [12, 15, 18, 29], the numerical method [40–43, 46, 55], and the technique of barrier strips [4, 16, 20, 24, 34, 37].
In [24], Kelevedjiev got the existence of the solution by using the technique of barrier strips. Then some researchers studied the solvability of vary boundary value problems under the barrier strip conditions. For example, in [32], by using a nonlinear alternative of Leray–Schauder, the existence results for the second-order three-point boundary value problem are obtained,
where \(\eta\in(0, 1)\), \(f: [0, 1]\times\mathbb{R}^{2} \to\mathbb{R}\) is continuous, and \(A, B\in\mathbb{R}\). After that, the barrier strip technique was used to research the solvability of the difference problem [16] and the time scale problem [34]. Recently, in [20, 37], the author obtained the existence of solutions for the fractional Dirichlet boundary value problem
under barrier strip conditions, where \(1<\alpha\leq2\) is a real number, \(D^{\alpha}x(t)\) is the conformable fractional derivative, and \(f: [0, 1]\times\mathbb{R}^{2}\to\mathbb{R}\) is continuous.
To the best of the authors’ knowledge, there were few papers discussing the solvability of the multi-point fractional boundary value problems with the technique of barrier strips. Our effort is to use the nonlinear alternative of Leray–Schauder to the unreached areas. In this paper, we consider the following fractional boundary value problem:
where \(1<\alpha\leq2\) is a real number, \(D^{\alpha}x(t)\) is the conformable fractional derivative, \(\eta\in(0, 1)\), \(f: [0, 1] \times \mathbb{R}^{2}\to\mathbb{R}\) is continuous, and \(A, B\in\mathbb{R}\). We note that if x is a solution of (1.1), (1.2), then there exists \(\xi\in(\eta, 1)\), such that \(x'(\xi)=B\). Accordingly, the boundary value problem
can be considered as a limiting case of the problem (1.1), (1.2) when \(\eta=1\). Consequently, our result for problem (1.1), (1.2) gives an existence result for problem (1.3), (1.4).
It is true that the conformable derivative has some controversy. Some researchers think that the conformable derivative does not contribute “new mathematics”. The conformable derivative for differentiable functions is equivalent to a simple change of variable \(D^{\alpha}[f(x)] = x^{1-\alpha} f'(x)\). It was noted that a criticism of the conformable derivative is that, although conformable at the limit \(\alpha\to1\) (\(\lim_{\alpha\to1} D^{\alpha}f =f'\)), it is not conformable at the other limit, \(\alpha\to0\) (\(\lim_{\alpha\to0} D^{\alpha}f \neq f\)) because \(x^{\alpha}/\alpha\) is undefined at \(\alpha=0\).
However, some other researchers think that the conformable derivative and its generalizations can still be interesting and valuable, specially leading to some physical insight with use in the applied settings. We refer the reader to [1, 2, 47, 48] for details as regards the conformable fractional derivative.
The main results of the paper is based on the following nonlinear alternative of Leray–Schauder.
Theorem 1.1
([32] (Nonlinear alternative))
Assume thatUis a relatively open subset of a convex setKin a Banach spaceE. Let\(N: \overline{U}\rightarrow K\)be a compact map and assume\(p\in U\). Then either
- (1)
Nhas a fixed point inU̅; or
- (2)
there is a\(u\in\partial U\)and\(\lambda\in(0, 1)\)such that\(u=\lambda Nu+(1-\lambda)p\).
The paper is organized as follows. In Sect. 2, the definitions of the conformable fractional order derivative and integral are given. In Sect. 3, by the use of the technique of nonlinear alternative of Leray–Schauder and barrier strips, the existence of the solution is obtained. In Sect. 4, some examples are presented to illustrate the main results.
2 Conformable fractional order calculus
Definition 2.1
([23])
Suppose \(\alpha\in(n, n+1]\), \(u:[0, \infty)\rightarrow R\), and u is nth-order differentiable for \(t>0\). Then the αth-order fractional derivative of u is defined as
provided the limit of the right side exists.
If u is αth-order differentiable on \((0, a)\), \(a>0\), and \(\lim_{t\rightarrow0^{+}}D^{\alpha}u(t)\) exists, then define \(D^{\alpha}u(0)=\lim_{t\rightarrow0^{+}}D^{\alpha}u(t)\).
Lemma 2.1
([13])
Let\(t>0\), \(\alpha\in(n, n+1]\). Function\(u(t)\)isαth-order differentiable if and only ifuis\((n+1)\)th-order differentiable, moreover,
Definition 2.2
([23])
Let \(\alpha\in(n, n+1]\), αth-order fractional integral is defined as
where \(I^{n+1}\) is the \((n+1)\)th-order integral.
Remark 2.1
With Lemma 2.1 and Definition 2.2, for \(\alpha\in(n, n+1]\), \(i=0, 1, \ldots, n\), there hold
Lemma 2.2
([23])
Let\(a \geq0\), \(f: [a, b] \to\mathbb{R}\)satisfy,
- (i)
fis continuous on\([a, b]\),
- (ii)
fisαth-order differentiable on\((a, b)\).
Then there exists \(c\in(a, b)\) such that
Given \(\alpha\in(n, n+1]\). Define
By the linearity of integral operator \(J^{\alpha}_{0^{+}}\), the space \(C^{\alpha}[0, 1]\) is a linear space. For \(u\in C^{\alpha}[0, 1]\), according to Remark 2.1, there are \(D^{\alpha-i}u(t)\in C[0, 1]\), \(i=0, 1, \ldots, n\). Let
where \(\|u\|_{0}=\max_{t\in[0, 1]}{| u(t)|}\). The following lemmas obtained in [13] are fundamental to our main results.
Lemma 2.3
([13])
The space\((C^{\alpha}[0, 1], \| \cdot\|_{\alpha})\)is a Banach space.
Lemma 2.4
([13])
The set\(F\subset C^{\alpha}[0, 1]\)is sequentially compact if and only ifFis uniformly bounded and equicontinuous, i.e., for\(\forall\varepsilon>0\), \(\exists\delta>0\), s.t. for any\(| t_{1} -t_{2}|<\delta\), \(\forall u\in F\), \({i=0, 1, \ldots, N-1}\), we have
Lemma 2.5
([13])
Assume that\(u \in C[0, 1]\)with a fractional derivative of order\(\alpha\in{(n,n+1]}\)that belongs to\(C(0,1) \cap L(0,1)\). Then
for some\(c_{k}\in\mathbb{R}\), \(k=0, 1, \ldots, n\).
Now, we present the Green function.
Lemma 2.6
Given\(y \in C[0,1]\)and\(1<\alpha\leq2\), \(1<\eta<2\), the unique solution of
is
where
Proof
Applying Lemma 2.5, we reduce Eq. (2.1) to an equivalent integral equation,
for some \(c_{0}, c_{1} \in\mathbb{R}\). By the boundary condition (2.2), we have
Therefore, the unique solution of problem (2.1), (2.2) is
For \(0 \leq\eta\leq t \leq1\), one has
For \(0 \leq t \leq\eta\leq1\), one has
The proof is complete. □
3 Existence results
Theorem 3.1
Let\(f: [0, 1]\times\mathbb{R}^{2} \to\mathbb{R}\)be continuous, \(A \in\mathbb{R}\), \(B \geq0\). Suppose there are constants\(L_{2} \leq L_{1}\)such that\(L_{2} - B < 0 \leq L_{1}\)and
- (1)
\(f(t, x, p)\geq0\), for\((t, x, p)\in[0, 1]\times [A+\frac{L_{2}-B}{\alpha-1}, A+B+\frac{L_{1}}{\alpha-1} ]\times[L_{1}, L_{1} + B]\);
- (2)
\(f(t, x, p)\leq0\), for\((t, x, p)\in[0, 1]\times [A+\frac{L_{2}-B}{\alpha-1}, A+B+\frac{L_{1}}{\alpha-1} ]\times[L_{2}-B, L_{2}]\);
- (3)
\(\frac{L_{2}-B}{1-\eta} \leq f(t, x, p)\leq\frac{L_{1}}{1-\eta }\), for\((t, x, p)\in[0, 1]\times [A+\frac{L_{2}-B}{\alpha-1}, A+B+\frac{L_{1}}{\alpha-1} ]\times[L_{2}-B, L_{1} + B]\).
Then the problem (1.1), (1.2) has at least one solutionxsuch that
Proof
By the use of the Tietze–Uryshon lemma there exists a continuous function \(g: \mathbb{R}^{2} \to[-1, 1]\) such that
For each integer \(n\geq1\), set
Then
for \((t, x, p)\in[0, 1]\times [A+\frac{L_{2}-B}{\alpha-1}, A+B+\frac {L_{1}}{\alpha-1} ]\times[L_{1}, L_{1} + B]\);
for \((t, x, p)\in[0, 1]\times [A+\frac{L_{2}-B}{\alpha-1}, A+B+\frac {L_{1}}{\alpha-1} ]\times[L_{2}-B, L_{2}]\).
Consider the boundary value problems
Making the change of variables \(w(t)=x(t)-\mu(t)\), where \(\mu(t)=Bt+A\). It is clear that \(x(t)\) is a solution of (3.3), (3.4) if and only if \(w(t)\) satisfies
Define \(T_{n}: C^{\alpha}[0, 1] \to C^{\alpha}[0, 1]\) as
where \(G(t, s)\) is the Green function defined in Eq. (2.3). The standard arguments show that \(T_{n}: C^{\alpha}[0, 1] \to C^{\alpha }[0, 1]\) is completely continuous. Furthermore, the solvability of the problem (3.3), (3.4) is changed as the existence of the fixed point of the operator \(T_{n}\).
Now, we are in the position to show that the operator \(T_{n}\) has a fixed point \(w_{n}\) that satisfies
for all \(n\in N\). Once this is achieved, then, by combining (3.7), (3.8), (3.9) and Lemmas 2.3, 2.4, the sequence \(\{ w_{n}\}\) has a subsequence which converges in \(C^{\alpha}\)-topology to \(w_{0}\), and then \(x(t):=w_{0}(t)+\mu(t)\) is a solution of (1.1), (1.2) such that
Define U as the open and bounded neighborhood of \(0\in C^{\alpha -1}[0, 1]\) such that
To prove that \(T_{n}\) has a solution \(w_{n} \in\overline{U}\) such that (3.8) holds, it suffices to verify, in view of Theorem 1.1, that if \(w\in\overline{U}\) satisfies Eq. (3.6) such that
for some \(\lambda\in(0, 1)\), then \(w\in U\), i.e., for \(0< t<1\),
Now let \(w\in\overline{U}\) satisfies Eq. (3.6) for some \(\lambda \in(0, 1)\). Since \(L_{2}-B\leq(D^{\alpha-1}w_{n})(t)\leq L_{1} \), by Lemma 2.2, there exists \(c \in(0,t) \subset(0, 1)\) such that
and
Let \(x(t)=w(t)+\mu(t)\), then \(x(t)\) satisfies
and
In particular
Suppose that \(D^{\alpha-1}w(t_{0})=L_{1}\) for some \(t_{0}\in[0, 1]\). We claim that \(t_{0}<1\). In fact, due to \(w \in C^{\alpha-1}[0, 1]\) and \(w(\eta) = w(1)\), by the use of the Lemma 2.2, there exists \(\xi\in(\eta, 1)\) such that \(D^{\alpha-1}(\xi)=0\). Taking into account the condition (3), integrating Eq. (3.5) from ξ to 1 yields
Hence \(D^{\alpha}w(t_{0})\leq0\) because \(D^{\alpha-1}w(t)\) attains its maximum at \(t_{0}\).
On the other hand, by (3.13) we get
This contradiction proves that \(D^{\alpha-1}w(t_{0})< L_{1}\). Analogously, we have \(D^{\alpha-1}w(t_{0})>L_{2}-B\). Thus we get
Inequality (3.14) together with the relation \(w(t)=w(0)+D^{\alpha -1}w(d)\cdot\frac{t^{\alpha-1}}{\alpha-1}\) implies that
This completes the proof. □
Analogously, we can obtain the following result.
Theorem 3.2
Let\(f: [0, 1]\times\mathbb{R}^{2} \to\mathbb{R}\)be continuous, \(A \in\mathbb{R}\), \(B < 0\). Suppose there are constants\(L_{1}\), \(L_{2}\)such that\(L_{2} \leq L_{1} +2 B\), \(L_{2} \le B < 0 \leq L_{1}\)and
- (1)
\(f(t, x, p)\geq0\), for\((t, x, p)\in[0, 1]\times [A+B+\frac{L_{2}-B}{\alpha-1}, A+\frac{L_{1}}{\alpha-1} ]\times[L_{1}+B, L_{1}]\);
- (2)
\(f(t, x, p)\leq0\), for\((t, x, p)\in[0, 1]\times [A+\frac{L_{2}-B}{\alpha-1}, A+B+\frac{L_{1}}{\alpha-1} ]\times[L_{2}, L_{2}-B]\);
- (3)
\(\frac{L_{2}-B}{1-\eta} \leq f(t, x, p)\leq\frac{L_{1}}{1-\eta }\), for\((t, x, p)\in[0, 1]\times [A+B+\frac{L_{2}-B}{\alpha-1}, A+\frac{L_{1}}{\alpha-1} ]\times[L_{2}, L_{1}]\).
Then the problem (1.1), (1.2) has at least one solutionxsuch that
Accordingly, we get the following corollaries as consequences of Theorems 3.1 and 3.2 for the boundary value problem (1.3), (1.4).
Corollary 3.1
Let\(f: [0, 1]\times\mathbb{R}^{2} \to\mathbb{R}\)be continuous, \(A \in\mathbb{R}\), \(B \geq0\). Suppose there are constants\(L_{2} \le L_{1}\)such that\(L_{2} - B \leq0 \leq L_{1}\)and
- (1)
\(f(t, x, p)\geq0\), for\((t, x, p)\in[0, 1]\times [A+\frac{L_{2}-B}{\alpha-1}, A+B+\frac{L_{1}}{\alpha-1} ]\times[L_{1}, L_{1} + B]\);
- (2)
\(f(t, x, p)\leq0\), for\((t, x, p)\in[0, 1]\times [A+\frac{L_{2}-B}{\alpha-1}, A+B+\frac{L_{1}}{\alpha-1} ]\times[L_{2}-B, L_{2}]\).
Then the problem (1.3), (1.4) has at least one solutionxsuch that
Proof
It suffices to note in the case \(\eta=1\) that the boundary condition \(x'(1)=B\) implies that \(L_{2}-B< w'(1)=0< L_{1} \) which is what is required in applying the condition (3) to show \(t_{0}<1\) in the proof of Theorem 3.1. □
Corollary 3.2
Let\(f: [0, 1]\times\mathbb{R}^{2} \to\mathbb{R}\)be continuous, \(A \in\mathbb{R}\), \(B < 0\). Suppose there are constants\(L_{1}\), \(L_{2}\)such that\(L_{2} \leq L_{1} +2 B\), \(L_{2} \le B < 0 \leq L_{1}\)and
- (1)
\(f(t, x, p)\geq0\), for\((t, x, p)\in[0, 1]\times [A+B+\frac{L_{2}-B}{\alpha-1}, A+\frac{L_{1}}{\alpha-1} ]\times[L_{1}+B, L_{1}]\);
- (2)
\(f(t, x, p)\leq0\), for\((t, x, p)\in[0, 1]\times [A+\frac{L_{2}-B}{\alpha-1}, A+B+\frac{L_{1}}{\alpha-1} ]\times[L_{2}, L_{2}-B]\).
Then the problem (1.3), (1.4) has at least one solutionxsuch that
4 Some examples
Example 4.1
Let \(\alpha=\frac{3}{2}\), \(A=0\), \(B=\frac{1}{2}\), \(\eta=\frac{1}{5}\), consider the following problem:
where \(f(t, x, p) = \frac{t^{2}}{8} \sin(x^{2}+t^{2})+ p^{3}\).
Choose \(L_{1} = 1\) and \(L_{2} = -\frac{1}{2}\), then \(L_{1}+B=\frac{3}{2}\), \(L_{2}-B=-1\) and
After a simple computation, we have
- (1)
\(f(t, x, p)\geq1 \ge 0\), for \((t, x, p)\in[0, 1]\times [-2, \frac{5}{2} ] \times [1, \frac{3}{2} ]\),
- (2)
\(f(t, x, p)\leq0\), for \((t, x, p) \in[0, 1] \times [-2, \frac{5}{2} ] \times [-1, -\frac{1}{2} ]\),
- (3)
\(-\frac{5}{4} < -1 \leq f(t, x, p) \leq\frac{5}{4}\), for \((t, x, p) \in[0, 1] \times [-2, \frac{5}{2} ] \times [-1, \frac{3}{2} ]\).
That is to say that all the conditions of Theorem 3.1 are satisfied, so the problem (4.1), (4.2) has at least one solution x such that
Example 4.2
Consider the following problem:
where \(\alpha=\frac{3}{2}\), \(A=0\), \(B=-1\), \(f(t, x, p) = t^{2} \sin(x^{2} + t^{2}) + p^{3}\).
Choose \(L_{1}=2\) and \(L_{2}=-2\), then \(L_{1}+B=1\), \(L_{2}-B=-1\), \(L_{2} \leq0=L_{1} +2B\), \(L_{2} \le B < 0 \leq L_{1}\) and
After a simple computation, we have
- (1)
\(f(t, x, p) \geq0\), for \((t, x, p) \in[0, 1] \times [-3, 4] \times[1, 2]\),
- (2)
\(f(t, x, p) \leq0\), for \((t, x, p) \in[0,1] \times [-2, -3] \times[-2, -1]\).
All the conditions of Corollary 3.2 are satisfied, so the problem (4.3), (4.4) has at least one solution x such that
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Zhanbing Bai, professor, his main research field is fractional differential equation boundary value problem. Yu Cheng, doctoral candidate, her research field is the fractional calculus with applications. Sujing Sun, doctoral candidate, her research field is the application of nonlinear functional analysis on differential equations.
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This work is supported by NSFC (11571207) and the Taishan Scholar project.
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Bai, Z., Cheng, Y. & Sun, S. On solutions of a class of three-point fractional boundary value problems. Bound Value Probl 2020, 11 (2020). https://doi.org/10.1186/s13661-019-01319-x
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DOI: https://doi.org/10.1186/s13661-019-01319-x