PK 4
PK 4
PK 4
DOI: 10.2478/s11533-013-0381-y
1 School of Mathematics and Computer Science, Guizhou Normal College, Guiyang, Guizhou 550018, China
4 Department of Mathematical Analysis and Numerical Mathematics, Faculty of Mathematics, Physics and Informatics,
Comenius University, Mlynská dolina, Bratislava 842 48, Slovakia
5 Mathematical Institute, Slovak Academy of Sciences, Štefánikova 49, Bratislava 814 73, Slovakia
Abstract: In this paper, we develop the approach and techniques of [Boucherif A., Precup R., Semilinear evolution equations
with nonlocal initial conditions, Dynam. Systems Appl., 2007, 16(3), 507–516], [Zhou Y., Jiao F., Nonlocal Cauchy
problem for fractional evolution equations, Nonlinar Anal. Real World Appl., 2010, 11(5), 4465–4475] to deal with
nonlocal Cauchy problem for semilinear fractional order evolution equations. We present two new sufficient
conditions on existence of mild solutions. The first result relies on a growth condition on the whole time interval
via Schaefer fixed point theorem. The second result relies on a growth condition splitted into two parts, one for the
subinterval containing the points associated with the nonlocal conditions, and the other for the rest of the interval
via O’Regan fixed point theorem.
Keywords: Fractional order evolution equations • Nonlocal Cauchy problem • Mild solution • Existence
© Versita Sp. z o.o.
∗
E-mail: sci.jrwang@gzu.edu.cn
†
E-mail: yzhou@xtu.edu.cn
‡
E-mail: Michal.Feckan@fmph.uniba.sk
On the nonlocal Cauchy problem for semilinear fractional order evolution equations
1. Introduction
The nonlocal condition has a better effect on the solution and is more precise for physical measurements than the
classical condition alone. For the contribution to the nonlocal Cauchy problem for nonlinear evolution equations we
refer the reader to Byszewski [5, 6], Jackson [14], Deng [8], Liang et al. [17], Ntouyas and Tsamatos [25] and other papers
(see for instance [4, 7, 11–13, 18, 30, 35] and references therein).
Boucherif and Precup [2] explored a new approach and conditions to study existence of solutions to the following initial
value problem for first order differential equations with nonlocal conditions:
α
C
D0,t x(t) = f(t, x(t)), α ∈ (0, 1), t ∈ J,
x(0) + G(u) = x0 , x0 ∈ X ,
α
where the symbol CD0,t denotes the Caputo fractional derivative of order α with the lower limit zero, f : J × X → X and
the nonlocal term G : C (J, X ) → X , is due to N’Guérékata [21]. In [22] N’Guérékata noted that the results from [21] hold
only in finite dimensional spaces. Dong et al. [10] revisited the above problem and presented some new existence results
under certain suitable conditions, extending the results of [21] to infinite dimensional spaces.
Zhou and Jiao [36] studied the following nonlocal Cauchy problem for fractional order evolution equations:
α
C
D0,t x(t) = Ax(t) + f(t, x(t)), α ∈ (0, 1), t ∈ J,
x(0) + G(x) = x0 , x0 ∈ X .
J. Wang, Y Zhou, M. Fečkan
They gave a suitable definition of a mild solution associated with characteristic solution operators of this problem and
established existence results in the case when f and G satisfy Lipschitz continuous and growth conditions on J via
Banach and Krasnoselskii fixed point theorems.
Motivated by [2, 3, 33, 34, 36] we investigate existence of mild solutions to the following Cauchy problem for fractional
order evolution equations with nonlocal conditions:
α
C
D0,t x(t) = Ax(t) + f(t, x(t)), α ∈ (0, 1), t ∈ J,
m
X (1)
x(0) = ak x(tk ), k = 1, 2, . . . , m.
k=1
We develop the approach and techniques from the above papers and establish two new existence results under general
and weak assumptions on f by utilizing fractional calculus and Schaefer and O’Regan fixed point theorems. We give a
−1
suitable definition of a mild solution to equation (1) by introducing a bounded operator B = I − m k=1 ak T(tk )
P
. Our
first existence result relies on a growth condition on J and the second one relies on a growth condition involving two
parts, one for [0, tm ], and the other for [tm , 1]. Our assumptions on f are more general and less restrictive than those
imposed in [34, 36].
2. Preliminaries
Let C (J, X ) be the Banach space of all X -valued continuous functions from J into X endowed with the norm kxkC (J,X ) =
supt∈J kx(t)k. For brevity, we denote kxkC = kxkC (J,X ) .
provided that the righthand side is point-wise defined on [a, ∞), where Γ( · ) is the gamma function. The Riemann–
Liouville derivative of order γ with the lower limit zero for a function f : [0, ∞) → R is
t
dn
Z
γ 1 f(s)
L
D0,t f(t) = ds, t > 0, n − 1 < γ < n.
Γ(n − γ) dt n 0 (t − s)γ+1−n
Remark 2.2.
If f is an abstract function with values in X , then the integrals in the definition are understood in Bochner’s sense.
Z ∞ Z ∞
T(t) = ξα (θ)T (t α θ) dθ, S(t) = α θξα (θ)T (t α θ) dθ, t ≥ 0,
0 0
1 −1−1/α
ξα (θ) =
θ πα (θ −1/α ) ≥ 0,
α
∞
1X
(−1)n−1 θ −nα−1
Γ(nα + 1)
πα (θ) = sin(nπα), θ ∈ (0, ∞),
π n=1 n!
On the nonlocal Cauchy problem for semilinear fractional order evolution equations
In a recent paper, Zhou and Jiao [37] gave some basic properties of T and S which will play an important role in the
sequel.
Further properties of T and S were explored by Wang and Zhou [31, 32].
Suppose that there exists the bounded operator B : X → X given by
" m
#−1
X
B= I− ak T(tk ) . (2)
k=1
Applying [33, Theorem 3.3, Remark 3.4] we can give two sufficient conditions for the existence and boundedness of the
operator B.
Lemma 2.4.
The operator B defined in (2) exists and is bounded if one of the following two conditions holds:
(C1 ) there are real numbers ak such that
m
X
M |ak | < 1; (3)
k=1
(C2 ) T (t) is compact for each t > 0 and the homogeneous linear nonlocal problem
m
X
α
C
D0,t x(t) = Ax(t), α ∈ (0, 1), t ∈ J, x(0) = ak x(tk ), (4)
k=1
Proof. Under assumption (C1 ), from Lemma 2.3 (i) and (3) we have
Xm
m
X
ak T(tk )
≤ M |ak | < 1.
k=1 k=1
Thus by the Neumann theorem, B exists and it is bounded. Under assumption (C2 ), it is obvious that mild solutions
to (4) have the form x(t) = T(t)x(0), hence
m
X m
X
x(0) = ak x(tk ) = ak T(tk )x(0).
k=1 k=1
has no non-trivial mild solutions, one obtains the desired result applying the Fredholm alternative theorem.
J. Wang, Y Zhou, M. Fečkan
Similarly to [36], one can introduce the following definition of mild solutions to (1).
Definition 2.5.
A function x ∈ C (J, X ) is called a mild solution to (1) if it satisfies the following equation:
m
X
x(t) = T(t) ak B(g(tk )) + g(t), t ∈ J, (5)
k=1
where
Z tk
g(tk ) = (tk − s)α−1 S(tk − s)f(s, x(s)) ds, (6)
0
Z t
g(t) = (t − s)α−1 S(t − s)f(s, x(s)) ds, t ∈ J. (7)
0
Remark 2.6.
Due to [36] a mild solution to fractional evolution equation (1) with the initial condition is x(t) = T(t)x(0) + g(t), so
taking into account our nonlocal condition, we get
m
X m
X
x(0) = ak T(tk )x(0) + ak g(tk ).
k=1 k=1
Pm Pm
So x(0) = k=1 ak B(g(tk )) and hence x(t) = T(t) k=1 ak B(g(tk )) + g(t), it is exactly (5).
Theorem 3.1.
Let F : X → X be a continuous mapping of X into X which is compact on each bounded subset of X . Then either
(i) the equation x = λF x has a solution for λ = 1, or
(ii) the set {x ∈ X : x = λF x for some λ ∈ (0, 1)} is unbounded.
In this section, we will study our problem under the following assumptions:
(H1 ) f : J × X → X satisfies the Carathéodory conditions.
α α α
(H2 ) There is a function h such that I0,t h(t) exists for all t ∈ J and I0,· h(·) ∈ C ((0, 1], R+ ) with limt→0+ I0,t h(t) = 0 and
a nondecreasing continuous function Ω : R → R such that
+ +
Remark 3.2.
In our previous works [34, 36], we assumed that there exists a function h ∈ L1/α1 (J, R+ ), α1 ∈ [0, α), where Lp (J, R+ )
denotes the Banach space of all Lebesgue measurable functions h : J → R+ with the norm of h given by
Z p
|h(t)|1/p dt , 1 < p < ∞,
khkLp (J,R+ ) = J
inf sup |h(t)|,
p = ∞,
µ(J)=0 t∈J−J
On the nonlocal Cauchy problem for semilinear fractional order evolution equations
where µ(J) is the Lebesgue measure on J. However, it is not difficult to verify that the old (strong) condition h ∈
α α
L1/α1 (J, R+ ), α1 ∈ [0, α), implies a new (weak) condition I0,· h( · ) ∈ C ((0, 1], R+ ) with lim+ I0,t h(t) = 0.
t→0
m
!−1
X
α α
(H3 ) The inequality lim sup ρ M BΩ(ρ) 2
|ak |I0,tk
h(tk ) + MΩ(ρ) sup I0,t h(t) > 1 holds.
ρ→∞ t∈J
k=1
(H4 ) T (t) is compact for each t > 0.
m
X
α
C
D0,t x(t) = Ax(t) + λf(t, x(t)), α ∈ (0, 1], λ, t ∈ J, x(0) = ak x(tk ). (8)
k=1
m
X
(F1 x)(t) = T(t) ak B(g(tk )), (F2 x)(t) = g(t),
k=1
where B is the operator defined in (2), g(tk ) is defined in (6) and g(t) is defined in (7). Obviously, a mild solution to
equation (8) is a solution to the operator equation
x = λF x (9)
and conversely. Thus, we can apply the Schaefer fixed point theorem to derive the existence of solutions to equation (1).
Lemma 3.3.
There exists a constant R ∗ > 0 independent of the parameter λ ∈ J such that kxkC ≤ R ∗ for every solution x to
equation (9).
Proof. Denote R0 = kxkC . Taking into account our conditions and Lemma 2.4 (C1 ), (C2 ), it follows from (5) that
m
X
kx(t)k ≤ k(F1 x)(t)k + k(F2 x)(t)k ≤ M |ak |kBkkg(tk )k + kg(t)k, t ∈ J. (10)
k=1
Note that
Z tk Z tk
M
kg(tk )k ≤ (tk − s)α−1 kS(tk − s)kkf(s, x(s))k ds ≤ (tk − s)α−1 h(s)Ω(kxkC ) ds
0 Γ(α) 0
Z tk
MΩ(R0 )
≤ (tk − s)α−1 h(s) ds = MΩ(R0 )I0,t
α
k
h(tk ), k = 1, 2, . . . , m,
Γ(α) 0
and Z t
MΩ(R0 )
kg(t)k ≤ (t − s)α−1 h(s) ds = MΩ(R0 ) sup I0,t
α
h(t), t ∈ J. (11)
Γ(α) 0 t∈J
m
X
α α
R0 = kxkC ≤ M 2 kBkΩ(R0 ) |ak |I0,tk
h(tk ) + MΩ(R0 ) sup I0,t h(t), t ∈ J,
k=1 t∈J
J. Wang, Y Zhou, M. Fečkan
which implies
m
!−1
X
α α
R0 M kBkΩ(R0 )
2
|ak |I0,tk
h(tk ) + MΩ(R0 ) sup I0,t h(t) ≤ 1. (12)
k=1 t∈J
However, according to (H3 ), there exists R ∗ > 0 such that for all R > R ∗ we have
m
!−1
X
α α
R M kBkΩ(R)
2
|ak |I0,tk
h(tk ) + MΩ(R) sup I0,t h(t) > 1. (13)
k=1 t∈J
Now, comparing (12) and (13), we deduce that R0 ≤ R ∗ . As a result, we find that kxkC ≤ R ∗ . This completes the
proof.
Let BR ∗ = {x ∈ C (J, X ) : kxkC ≤ R ∗ }. Then BR ∗ is a bounded closed and convex subset in C (J, X ). By Lemma 3.3, we
can derive the following result.
Lemma 3.4.
The operator F maps BR ∗ into itself.
Lemma 3.5.
The operator F : BR ∗ → BR ∗ is completely continuous.
Proof. For our purpose, we only need to check that Fi : BR ∗ → BR ∗ , i = 1, 2, is completely continuous. Firstly,
by repeating the procedure of our previous work (see Step III in the proof of [36, Theorem 3.1]), one can obtain that
F2 : BR ∗ → BR ∗ is completely continuous. We only emphasize that the main difference is that the condition h ∈
α α
L1/α1 (J, R+ ), α1 ∈ [0, α), is replaced by the new condition I0,· h( · ) ∈ C ((0, 1], R+ ) with lim+ I0,t h(t) = 0.
t→0
Secondly, one can check that F1 : BR ∗ → BR ∗ is continuous (by (H1 ), (H2 ) and Lemma 2.3 (i)) and F1 : BR ∗ → BR ∗ is
compact since T(t) is compact for each t > 0 (by (H4 ) and Lemma 2.3 (iii)).
Theorem 3.6.
Assume that (H1 )–(H4 ) hold and condition (C1 ) (or (C2 )) is satisfied. Then equation (1) has at least one solution u ∈
C (J, X ) and the set of solutions to equation (1) is bounded in C (J, X ).
Proof. Obviously, the set {x ∈ C (J, X ) : x = λF x, 0 < λ < 1} is bounded due to Lemma 3.4. Now we can apply
Theorem 3.1 to derive that F has a fixed point in BR ∗ which is just the mild solution to equation (1).
Theorem 4.1.
Let U be an open set in a closed, convex set C of X . Assume 0 ∈ U, T (U) is bounded and T : U → C is given
by T = T1 + T2 where T1 : U → X is completely continuous, and T2 : U → X is a nonlinear contraction. Then either
(i) T has a fixed point in U, or
(ii) there is a point x ∈ ∂U and λ ∈ (0, 1) with x = λT (x).
On the nonlocal Cauchy problem for semilinear fractional order evolution equations
In addition to (H1 ), (H4 ) and (C1 ) (or (C2 )), motivated by Boucherif and Precup [2, 3], we introduce the following two
assumptions:
α α
(H5 ) There exists a function h such that I0,t h(t) exists for every t ∈ [0, tm ] and I0,· h( · ) ∈ C ((0, tm ], R+ ) with
α
limt→0+ I0,t h(t) = 0 and a nondecreasing continuous function Ω : R → R such that kf(t, x)k ≤ h(t)Ω(kxk) for
+ +
all x ∈ X and for a.e. t ∈ [0, tm ], and for every t ∈ [tm , 1] there exists a function l such that Itαm ,t l(t) exists and
Itαm ,· l( · ) ∈ C ([tm , 1], R+ ) such that
kf(t, x)k ≤ l(t), (14)
for all x ∈ X and for a.e. t ∈ [tm , 1]. Moreover, Ω has the property
m
!
X
α
r > MΩ(r) |ak |kBk + 1 sup I0,t h(t) (15)
k=1 t∈[0,tm ]
x = λT x, (16)
where T : C (J, X ) → C (J, X ) is defined by (T x)(t) = (T1 x)(t) + (T2 x)(t), t ∈ J, Ti : C (J, X ) → C (J, X ), i = 1, 2, are given
by
m
X
T(t)
ak B(g(tk )) + g(t), t ∈ [0, tm ),
k=1
(T1 x)(t) = m Z tm
X
T(t) (t − s)α−1 S(t − s)f(s, x(s)) ds,
a B(g(t t ∈ [tm , 1],
k k
)) +
k=1 0
0, t ∈ [0, tm ),
Z t
(T2 x)(t) =
(t − s)α−1 S(t − s)f(s, x(s)) ds,
t ∈ [tm , 1].
tm
Lemma 4.2.
There exist Ri∗ > 0, i = 1, 2, independent of the parameter λ, such that kxkC ([0,tm ],X ) ≤ R1∗ and kxkC ([tm ,1],X ) ≤ R2∗ , that is
kxkC ≤ R ∗ = max {R1∗ , R2∗ } for every solution x of the equation (16).
Proof. Case 1. We prove that there exists R1∗ > 0 such that kxkC ([0,tm ],X ) ≤ R1∗ . For t ∈ [0, tm ] and λ ∈ J, denote
R[0,tm ] = kxkC ([0,tm ],X ) , we have
m
X
kx(t)k ≤ λk(T1 x)(t)k + k(T2 x)(t)k ≤ M |ak |kBkkg(tk )k + kg(t)k
k=1
m Z tk Z t
X M M
(tk − s)α−1 h(s)Ω R[0,tm ] ds + (t − s)α−1 h(s)Ω R[0,tm ] ds
≤M |ak |kBk
k=1
Γ(α) 0 Γ(α) 0
m
!
X
α
≤ MΩ R[0,tm ] |ak |kBk + 1 sup I0,t h(t),
k=1 t∈[0,tm ]
J. Wang, Y Zhou, M. Fečkan
which implies !
m
X α
R[0,tm ] ≤ MΩ R[0,tm ] |ak |kBk + 1 sup I0,t h(t).
k=1 t∈[0,tm ]
From (15) we find that there exists R1∗ ≥ R[0,tm ] > 0 such that kxkC ([0,tm ],X ) ≤ R1∗ .
Case 2. We prove that there exists R2∗ > 0 such that kxkC ([tm ,1],X ) ≤ R2∗ . For t ∈ [tm , 1] and λ ∈ J, keeping in mind our
assumptions, we find that
m Z tk
X M
kx(t)k ≤ M |ak |kBk (tk − s)α−1 h(s)Ω(R1∗ ) ds
k=1
Γ(α) 0
Z tm Z t
M M
+ (t − s)α−1 h(s)Ω(R1∗ ) ds + (t − s)α−1 h(s) ds
Γ(α) 0 Γ(α) tm
m
!
X
≤ MΩ(R1∗ ) |ak |kBk + 1 α
sup I0,t h(t) + M sup Itαm ,t l(t),
k=1 t∈[0,tm ] t∈[tm ,1]
" m
! #
X
R2∗ =M Ω(R1∗ ) |ak |kBk + 1 sup I0,t α
h(t) + sup Itαm ,t l(t) .
k=1 t∈[0,tm ] t∈[tm ,1]
Let R ∗ = max {R1∗ , R2∗ }. Then all solutions of the equation (16) satisfy kxkC ≤ R ∗ , where R ∗ is independent of the
parameter λ.
Denote D = {x ∈ C (J, X ) : kxkC < R ∗ + 1}. We can proceed as in the proof of Lemma 4.2 to derive the following result.
Lemma 4.3.
T (D) is bounded.
One can proceed as in the proof of Lemma 3.5 to obtain the following result.
Lemma 4.4.
The operator T1 : D → C (J, X ) is completely continuous.
Lemma 4.5.
The operator T2 : D → C (J, X ) is a nonlinear contraction.
Proof. From the definition of T2 we only need to show that T2 : D → C ([tm , 1], X ) is a nonlinear contraction. In fact,
for any x, y ∈ D and t ∈ [tm , 1], we have
Z t
(t − s)α−1
S(t − s)[f(s, x(s)) − f(s, y(s))]
ds
k(T2 x)(t) − (T2 y)(t)k ≤
tm
Z t
M
≤ (t − s)α−1 q(s)Ψ(kx(s) − y(s)k) ds
Γ(α) tm
Z t
MΨ(kx − ykC ) α−1
≤ (t − s) q(s) ds ≤ M sup Itαm ,t q(t) Ψ(kx − ykC ),
Γ(α) tm t∈[tm ,1]
Theorem 4.6.
Assume that (H1 ), (H4 ), (H5 ) and (H6 ) hold and condition (C1 ) (or (C1 )) is satisfied. Then equation (1) has at least one
solution u ∈ C (J, X ).
Proof. By Lemma 4.2 we see that (ii) in Theorem 4.1 does not hold for U = D. Therefore, from Theorem 4.1, T has
a fixed point in D which is just the mild solution to the equation (1). This completes the proof.
Finally, we try to change the conditions (H5 ) and (H6 ) to the following parallel conditions:
α
Mδ sup I0,t q(t) < 1.
t∈[tm ,1]
Corollary 4.7.
The existence result in Theorem 4.6 also holds even if (H5 ) and (H6 ) are replaced by the conditions (H5 ’) and (H6 ’)
respectively.
Proof. Indeed, we can modify Case 2 in the proof of Lemma 4.2 as follows:
m Z tk Z tm
X M M
kx(t)k ≤ M |ak |kBk (tk − s)α−1 h(s)Ω(R1∗ ) ds + (t − s)α−1 h(s)Ω(R1∗ ) ds
k=1
Γ(α) 0 Γ(α) 0
Z t Z t
M M
+ (t − s)α−1 kf(s, 0)k ds + (t − s)α−1 q(s)Ψ(kx(s)k) ds
Γ(α) tm Γ(α) tm
m
!
∗
X
α
M supt∈[tm ,t] kf(t, 0)k(1 − tm )α
≤ MΩ(R1 ) |ak |kBk + 1 sup I0,t h(t) +
k=1 t∈[0,tm ] Γ(α + 1)
Z t
M
+ (t − s)α−1 q(s)(δkx(s)k + δ1 ) ds,
Γ(α) tm
Acknowledgements
The authors thank the referee for valuable comments and suggestions which improved their paper.
The first author acknowledges the support by National Natural Science Foundation of China (11201091) and Doctor
Project of Guizhou Normal College (13BS010). The second author acknowledges the support by National Natural
Science Foundation of China (11271309), Specialized Research Fund for the Doctoral Program of Higher Education
(20114301110001) and Key Projects of Hunan Provincial Natural Science Foundation of China (12JJ2001). The third
author acknowledges the support by Grants VEGA-MS 1/0071/14, VEGA-SAV 2/0029/13 and APVV-0134-10.
J. Wang, Y Zhou, M. Fečkan
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