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Open Access Journal of
eISSN: 2641-9335

Mathematical and Theoretical Physics

Research Article Volume 1 Issue 3

Katugampola-type fractional differential equations with delay and impulses

M Janaki,1 K Kanagarajan,1 EM Elsayed2,3

1Department of Mathematics, Sri Ramakrishna Mission Vidyalaya College of Arts and Science, India
2Department of Mathematics,King Abdulaziz University, Saudi Arabia
3Department of Mathematics, Mansoura University, Egypt

Correspondence: Elsayed EM, Department of Mathematics,Faculty of Science, Mansoura University, Mansoura 35516,Egypt

Received: February 03, 2018 | Published: May 1, 2018

Citation: Janaki M, Elsayed EM, Kanagarajan K. Katugampola-type fractional differential equations with delay and impulses. Open Acc J Math Theor Phy. 2018;1(3):73-77. DOI: 10.15406/oajmtp.2018.01.00012

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Abstract

 Our aim in this note is to study the existence of solutions of a Katugampola-type fractional impulsive differential equation with delay. We use successive approximation method to show the existence of solutions. In the end, an example is given to verify the hypothetical results.

Keywords: katugampola fractional derivative, impulsive equations, time delay

Introduction

Because of its wide applicability in biology, medicine and in more and more fields, the theory of fractional differential equations(FDEs) has recently been attracting increasing interest, see for instance1‒8 and references therein. Impulsive differential equations have played an important role in modelling phenomena, especially in describing dynamics of populations subject to abrupt changes as well as other phenomena such as harvesting, diseases, and so forth, some authors have used impulsive differential systems to describe the model since the last century. For the basic theory on impulsive differential equations, the reader can refer to the books9‒12 and the papers.1,13‒16 In addition, some modelling is done via impulsive functional differential equations when these processes involve hereditary phenomena such as biological and social macrosystems. For fractional functional differential equations, the initial value problem, for a class of nonlinear fractional functional differential equations is discussed. For more details, see.17‒24 Motivated by the papers,25,26 the aim of this note is to discuss the existence and uniqueness of solutions of Katugampola-type FDEs with delay and impulses.

Consider the Katugampola-type FDEs with delay and impulse of the form,

(ρcDω0+(t)=(t,t),ttk;t:=[0,T];Δ(tk)=Ik((tk)),k=1,2,...,m;(t)=ψ(t),t[μ,0], (1)

where is the generalized fractional derivative in Caputo sense, and are given functions satisfying some assumptions that will be specified later.  and represent the right and left limits of  at  respectively, and they satisfy that . If , then for any , define by  for , here  represents the history of the state from time  to present time  and .

The rest of this paper is organized as follows. In Section 2, we give some notations and recall some concepts and preliminary results. In Section 3, the existence and uniqueness of the problem(1) are obtained by successive approximation method. In Section 4, an example is given to demonstrate the effectiveness of the main results.

Preliminaries

 In this section, we recollect several definitions of fractional derivatives and integals from the papers27‒30

Definition The fractional (arbitrary) order integral of the function of order  is defined by

Iωa(t)=ta(ts)ω1Γ(ω)(s)ds, (2)

 

where Γ is the gamma function.

Definition For a function  given on the interval , the Caputo fractional order derivative of , is defined by

(cDωa+)(t)=1Γ(nω)ta(ts)nω1(n)(s)ds,  (3)

where n=[ω]+1 . Definition 4.3 The generalized left-sided fractional integral of order  is defined by

(ρIωa+)(t)=ρ1ωΓ(ω)ta(tρsρ)ω1sρ1(s)ds,  (4)

for t>a , if the integral exists.

Definition Thegeneralized fractional derivative, corresponding to the generalized fractional integral (4), is defined for 0a<t , by

(ρDωa+)(t)=ρωn+1Γ(n1)(t1ρddt)nta(tρsρ)nω1sρ1(s)ds,  (5)

if the integral exists.

Definition The Caputo-type generalized fractional derivative, ρDωa+(t)  is defined via the above generalized fractional derivative (5) as follows

(ρcDωa+)(t)=(ρDωa+[(s)n1k=0k(a)k!(μa)k])(t),  (6)

where n=Re(ω) . Definition The generalized fractional derivative in Caputo sense, corresponding to the generalized fractional integral in Caputo sense (6), is defined for 0a<t , by

(ρcDωa+)(t)=(t1ρddt)n(ρcIωa+)(t)

=ρωn+1Γ(nω)(t1ρddt)nta(tρsρ)nω1sρ1(s)ds. (7)

Remark In Caputo sense, the Katugampola fractional derivative operator ρcDωt  is a left inverse of the integral operator ρcIωt  but in general is not a right inverse,

ρcDωt(Iωt(t))=(t)

and the following holds

ρcIωt(Iωt(t))=(t)n1k=0(tρa)kk!(k)(a),t[a,b].  (8)

For readers’ understanding, we introduce the following notations for the following lemma and theorem. Let

We denote  exist and . Obviously,is a Banach space with the norm

Lemma 4.8 Assume that  A function  is a solution of the initial value problem

(ρcDω0+(t)=(t),ttk,tJ:=[0,T];Δ(tk)=Ik((tk)),k=1,2,...,m;(t)=ψ(t),t[μ,0]  (9)

if and only if  satisfies the following integral equation

(t)=(ψ(t),t[μ,0];ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1(s)ds+kj=1Ij((tj))+k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s)ds,t(tk,tk+1],k=0,1,2,...,m. (10)

Proof. Assume that  satisfies (9). One can see, from Remark 2.7 and ψ(0)=0, that

(t)=ρ1ωΓ(ω)t0(tρsρ)ω1sρ1(s)ds,fortJ0=[t0,t1].

In view of (t+1)(t1)=I1((t1)),  we get that

(t+1)=I1((t1))+ρ1ωΓ(ω)t10(tρ1sρ)ω1sρ1(s)ds.

It follows that, for t(t1,t2],  

(t)=(t+1)+ρ1ωΓ(ω)tt1(tρsρ)ω1sρ1(s)ds

=ρ1ωΓ(ω)tt1(tρsρ)ω1sρ1(s)ds+ρ1ωΓ(ω)t10(tρ1sρ)ω1sρ1(s)ds+I1((t1)).

In consequence, we can see, by means of (t+2)=(t2)+I2((t2)),

that

(t+2)=1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s)ds+2j=1Ij((tj)),

which implies that for t(t2,t3],

(t)=ρ1ωΓ(ω)tt2(tρsρ)ω1sρ1(s)ds

(t)=ρ1ωΓ(ω)tt2(tρsρ)ω1sρ1(s)ds

Repeating the above process, the solution (t)  for t(tk,tk+1]  can be written as

(t)=ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1(s)ds

+k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s)ds+kj=1Ij((tj)).

Conversely, if  is a solution of (10), one can obtain by a direct computation, that ρcDω0+(t)=(t), ttk, t[0,T], and Δ(tk)=(t+k)(tk)=Ik((tk)),  where

(t+k)=k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s)ds+kj=1Ij((tj)),

and

(tk)=ρ1ωΓ(ω)tktk1(tρksρ)ω1sρ1(s)ds+k2i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s)ds

+k1j=1Ij((tj)).

This completes the proof.

Existence and uniqueness results

Initially, set C0={v|v(J,),v(0)=0}.  For each,vC0 ,we denote by ˉv(t)=v(t),0tTandˉv(t)=0,μt0. the function defined by

ˉv(t)=v(t),0tTandˉv(t)=0,μt0.  (11)

If is a solution of (1), then(.) can be decomposed as (t)=ˉv(t)+ϕ(t) for μtT, which implies that t=ˉvt+ϕt  for 0tT, where

ϕ(t)=0,0tT,andϕ(t)=ψ(t),μt0.  (12)

Therefore, the problem (1) can be transformed into the following fixed point problem of the operator N:0,

Nv(t)=ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1(s,ˉvs+ϕs)ds

+k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s,ˉvs+ϕs)ds

+kj=1Ij(ˉv(tj)),t(tk,tk+1],k=0,1,2,...,m. (13)

Now, let us present our main results.

Theorem For the functions (J×,)  and Ik: , assume the following conditions hold • There exists a continuous function α:[0,T]+  satisfying |(t,pt)(t,qt)|α(t)sups[0,t]|p(s)q(s)|,p,q,t[0,T];

 • There exists a constant Lk>0  such that |Ik(p)Ik(q)|Lk|pq|,k=1,2,...,m;

m+1i=1αiTρωρωΓ(ω+1)+mj=1Lj<1, where αk=supt(tk,tk+1)α(t); • There exists a constant M>0  such that |(t,ϕt)|M , where ϕ  is defined in (12).

Proof
To complete the proof, we shall use the method of successive approximations. Define a sequence of functions vn:[0,T], n=1,2,...  as follows:

v0(t)=0,vn(t)=Nvn1(t). (14)

Since v0(t)=0, it is easy to see from(11) that (ˉv0)s=0  fors[0,T].  Thus we have,

|v1(t)v0(t)|ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1|(s,ϕ(s))|ds+kj=1Ij(0)

+k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1|(s,ϕ(s))|ds

M(tρωtρωk)ρωΓ(ω+1)+ki=1M(tρωitρωi1)ρωΓ(ω+1)+kj=1|Ij(0)|

m+1i=1M(tρωitρωi1)ρωΓ(ω+1)+kj=1|Ij(0)|:=N0,k=1,2,..,m,

it follows that v1(t)v0(t)N0. Furthermore,

|vn(t)vn1(t)|ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1|(s,(ˉvn1)s+ϕs)(s,(ˉvn2)s+ϕs)|ds

+k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1|(s,(ˉvn1)s+ϕs)(s,(ˉvn2)s+ϕs)|ds

+kj=1|Ij(ˉvn1)(tj)Ij(ˉvn2)(tj)|

ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1α(s)supx[0,s]|ˉvn1(x)ˉvn2(x)|ds

+k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1α(s)supx[0,s]|ˉvn1(x)ˉvn2(x)|ds

+kj=1Ij|ˉvn1(tj)ˉvn2(tj)|

(αk(tρωtρωk)Γ(ω+1)+ki=1αi(tρωitρωi1)Γ(ω+1)+kj=1Lj).vn1vn2

(m+1i=1αiTωρρωΓ(ω+1)+mj=1Lj).vn1vn2

:=N1vn1vn2, (15)

  which implies that vnvn1N1vn1vn2 with N1<1.  Note that for any r>n>0, we have vrvnvn+1vn+vn+2vn+1+...+vrvr1

(Nn1+Nn+11+...+Nr11)v1v0

vrvnNn11N1v1v0.  (16)

for sufficiently large numbersr,n, it follows from the above inequalities with N1<1  that vrvn0.  Thus, {vn(t)} is a Cauchy sequence in P(J).  Since P(J)  is a complete Banach space, then vnv0(n), for some vP(J), which means that vn(t)  is uniformly convergent to v(t)  with respect to t.   In what follows, we shall show that v(t) is a solution of the equation (1). Observe that

|ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1(s,(ˉvn)s+ϕs)dsρ1ωΓ(ω)ttk(tρsρ)ω1sρ1(s,(ˉvs+ϕs))ds|

ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1|(s,(ˉvn)s+ϕs)(s,(ˉvs+ϕs))|ds

ρ1ωΓ(ω)ttkα(t)(tρsρ)ω1sρ1supx[0,s]|ˉvn(x)ˉv(x)|ds

=ρ1ωΓ(ω)ttkα(t)(tρsρ)ω1sρ1supx[0,s]|vn(x)v(x)|ds.

Since vn(t)v(t)  as n+, for any ε>0, there exists a sufficiently large number n0>0  such that for all n>n0,  we have

|vn(x)v(x)|<min{ρωΓ(ω+1)mi=0αiTρωε,1mj=1Ljε}.

Therefore,

|ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1(s,(ˉvn)s+ϕs)dsρ1ωΓ(ω)ttk(tρsρ)ω1sρ1(s,(ˉvs+ϕs))ds|<ε, (17)

 

|k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s,(ˉvn)s+ϕs)ds

k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s,(ˉvs+φs))ds|

k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1|(s,(ˉvn)s+ϕs)(s,(ˉvs+ϕs))|ds

k1i=0α(ti)(tρitρi1)ωρωΓ(ω+1)supx[0,s]|vn(x)v(x)|ds<ε.  (18)

and

|kj=1Ij(ˉvn(tj))kj=1Ij(ˉv(tj))|kj=1Lj|ˉvn(tj)ˉv(tj)|

=kj=1Lj|vn(tj)v(tj)|<ε. (19)

  In consequence, we can see that for a sufficiently large number n>n0,  

|v(t)Nv(t)|

|v(t)vn+1(t)|+|vn+1(t)Nvn(t)|+|Nvn(t)Nv(t)|

|v(t)vn+1(t)|+|vn+1(t)[ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1(s,(ˉvn)s+ϕs)ds

+k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s,(ˉvn)s+ϕs)ds+kj=1Ij(ˉvn(tj))]|

+|k1i=0ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1(s,(ˉvn)s+ϕs)dsρ1ωΓ(ω)ttk(tρsρ)ω1sρ1(s,ˉvs+ϕs)ds|

+|k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s,(ˉvn)s+ϕs)ds

k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1(s,ˉvs+ϕs)ds|+|kj=1Ij(ˉvn(tj))kj=1Ij(ˉv(tj))|.

Thus, in view of the convergence of the two previous and (17)-??, one obtains that |v(t)Nv(t)|0 , which implies that v  is a solution of (1). Finally, we prove the uniqueness of the solution. Assume that v1,v2:[0,T]  are two solutions of (1). Note that

|v1(t)v2(t)|ρ1ωΓ(ω)ttk(tρsρ)ω1sρ1α(s)supx[0,s]|ˉv1(x)ˉv2(x)|ds

+k1i=0ρ1ωΓ(ω)ti+1ti(tρi+1sρ)ω1sρ1α(s)supx[0,s]|ˉv1(x)ˉv2(x)|ds

+kj=1Ij|ˉv1(tj)ˉv2(tj)|

(p+1i=1αiTωρρωΓ(ω+1)+pj=1Lj)v1v2.

  According to the conditions (A3) , the uniqueness of the problem (1) follows immediately, which completes the proof.

An illustrative example

 Consider the following Katugampola-type fractional impulsive differential equation with delay of the form

(ρcDω0+(t)=et|t|(9+et)(1+|t)|,t[0,1],t12,0<ω<1;Δ(12)=|(12)|3+|(12)|;(t)=ψ(t)=et12,μt0. (20)

Let us take, ω=12, ρ=1, Γ(ω+1)>410, μ  is a non-negative constant. t(θ)=(t+θ)  forμθ0  and 0t1. Set (t,)=et(9+et)(1+), I()=3+, for (t,)[0,1]×[0,+). Now, we can see that

|(t,pt)(t,qt)|=et(9+et)|ptqt|(1+|pt|)(1+|qt|)

et(9+et)|ptqt|

α(t)sups[0,t]|p(s)q(s)|, where α(t)=et(9+et)  and α=supt[0,1]α(t)=110,  so the condition (A1)  is satisfied. On the other hand, we get that

|I(p)I(q)|=3|pq|(3+p)(3+q)13|pq|,p,q>0,

which satisfies the condition (A1)  of Theorem 3.1 with L=13. By a direct computation, we obtain that m+1i=1αiTρωρωΓ(ω+1)+mj=1Lj=2101Γ(ω+1)+13<1, and

|(t,t)|=et(9+et)|t|(1+|t|)et9+et110,t[0,1].

As a result, the equations in (20) satisfy all the hypotheses in Theorem 3.1 which guarantees that (20) has a unique solution.

Conclusion

In this note, the existences of solutions of a Katugampola-type fractional impulsive differential equation with delay were investigated. The successive approximation method was employed to show the existence of solutions. The example reflects the applicability of the proposed method.

Acknowledgements

None

Conflict of interest

Author declares that there is no conflict of interest.

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