Commun Nonlinear Sci Numer Simulat 17 (2012) 4961–4967

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Commun Nonlinear Sci Numer Simulat

journal homepage: www.elsevier.com/locate/cnsns

The existence of solutions for boundary value problem of fractional

hybrid differential equations q
Shurong Sun a,b,⇑, Yige Zhao a, Zhenlai Han a,c, Yanan Li a
a
School of Mathematical Sciences, University of Jinan, Jinan, Shandong 250022, PR China
b
Department of Mathematics and Statistics, Missouri University of Science and Technology, Rolla, MS 65409-0020, USA
c
School of Control Science and Engineering, Shandong University, Jinan, Shandong 250061, PR China

a r t i c l e i n f o a b s t r a c t

Article history: In this paper, we study the existence of solutions for the boundary value problem of frac-
Received 19 September 2011 tional hybrid differential equations
Received in revised form 20 January 2012  
Accepted 1 June 2012 xðtÞ
Da0þ þ gðt; xðtÞÞ ¼ 0; 0 < t < 1;
Available online 13 June 2012 f ðt; xðtÞÞ
xð0Þ ¼ xð1Þ ¼ 0;
Keywords:
Fractional differential equation where 1 < a 6 2 is a real number, Da0þ is the Riemann–Liouville fractional derivative. By a
Boundary value problem fixed point theorem in Banach algebra due to Dhage, an existence theorem for fractional
Fractional Green’s function hybrid differential equations is proved under mixed Lipschitz and Carathéodory conditions.
Fixed point theorem As an application, examples are presented to illustrate the main results.
Ó 2012 Elsevier B.V. All rights reserved.

1. Introduction

Fractional differential equations have been of great interest recently. It is caused both by the intensive development of the
theory of fractional calculus itself and by the applications, see [1–4]. It should be noted that most of papers and books on
fractional calculus are devoted to the solvability of linear initial fractional differential equations in terms of special functions.
Recently, there are some papers dealing with the existence of solutions (or positive solutions) of nonlinear initial fractional
differential equations by the use of techniques of nonlinear analysis (fixed-point theorems, Leray–Schauder theory, the
upper and lower solution method, Adomian decomposition method, etc.), see [5–9]. In fact, there has the same requirements
for boundary conditions. However, there exist some papers considered the boundary value problems of fractional differential
equations, see [10–16].
Bai and Lü [16] discussed the following two-point boundary value problem of fractional differential equations

Da0þ uðtÞ þ f ðt; uðtÞÞ ¼ 0; 0 < t < 1;

uð0Þ ¼ uð1Þ ¼ 0;
where 1 < a 6 2 is a real number and Da0þ is the standard Riemann–Liouville fractional derivative. They obtained the exis-
tence of positive solutions by means of Guo–Krasnosel’skii fixed point theorem and Leggett–Williams fixed point theorem.

q
This research is supported by the Natural Science Foundation of China (11071143, 60904024, 61174217), Natural Science Outstanding Youth
Foundation of Shandong Province (JQ201119) and supported by Shandong Provincial Natural Science Foundation (ZR2010AL002, ZR2009AL003), also
supported by Natural Science Foundation of Educational Department of Shandong Province (J11LA01).
⇑ Corresponding author at: School of Mathematical Sciences, University of Jinan, Jinan, Shandong 250022, PR China.
E-mail addresses: sshrong@163.com (S. Sun), zhaoeager@126.com (Y. Zhao), hanzhenlai@163.com (Z. Han), 1209nannan@163.com (Y. Li).

1007-5704/$ - see front matter Ó 2012 Elsevier B.V. All rights reserved.
http://dx.doi.org/10.1016/j.cnsns.2012.06.001
4962 S. Sun et al. / Commun Nonlinear Sci Numer Simulat 17 (2012) 4961–4967

In recent years, quadratic perturbations of nonlinear differential equations have attracted much attention. We call such
differential equations hybrid differential equations. There have been many works on the theory of hybrid differential equa-
tions, and we refer readers to the articles [17–21].
Zhao et al. [17] studied fractional hybrid differential equations (in short FHDE) involving Riemann–Liouville differential
operators of order 0 < q < 1,
( h i
Dq xðtÞ
f ðt;xðtÞÞ
¼ gðt; xðtÞÞ; a:e: t 2 ½0; T;
xð0Þ ¼ 0;
where f 2 Cð½0; T  R; R n f0gÞ and g 2 Cð½0; T  R; RÞ. They established the existence and uniqueness results and some fun-
damental differential inequalities for fractional hybrid differential equations initiating the study of theory of such systems
and proved utilizing the theory of inequalities, its existence of extremal solutions and a comparison result.
From the above works, we consider the following the existence of solutions for the boundary value problem of fractional
hybrid differential equations
 
xðtÞ
Da0þ þ gðt; xðtÞÞ ¼ 0; 0 < t < 1; ð1:1Þ
f ðt; xðtÞÞ

xð0Þ ¼ xð1Þ ¼ 0; ð1:2Þ

a
where 1 < a 6 2 is a real number and D0þ is the standard Riemann–Liouville fractional derivative. Using a fixed point the-
orem in Banach algebra due to Dhage, we give an existence theorem for fractional hybrid differential equations under mixed
Lipschitz and Carathéodory conditions. And we present two examples to demonstrate our results.
Let R be the real line and J ¼ ½0; 1 be a bounded interval in R. Let CðJ  R; RÞ denote the class of continuous functions
f : J  R ! R and let CðJ  R; RÞ denote the class of functions g : J  R ! R such that

(i) the map t # gðt; xÞ is measurable for each x 2 R, and

(ii) the map x # gðt; xÞ is continuous for each t 2 J.

The class CðJ  R; RÞ is called the Carathéodory class of functions on J  R which are Lebesgue integrable when bounded by a
Lebesgue integrable function on J.
In this paper, we assume f 2 Cð½0; 1  R; R n f0gÞ and g 2 Cð½0; 1  R; RÞ.
The plan of this paper is as follows. In Section 2, we shall give some definitions and lemmas to prove our main results. In
Section 3, we establish the existence of solutions for boundary value problem (1.1) and (1.2) by a fixed point theorem in Ba-
nach algebra due to Dhage. As an application, examples are presented to illustrate the main results.

2. Preliminaries

For the convenience of the reader, we give some background materials from fractional calculus theory to facilitate anal-
ysis of problem (1.1) and (1.2). These materials can be found in the recent literature, see [16,22,23].

Definition 2.1 [22]. The Riemann–Liouville fractional derivative of order a > 0 of a continuous function f : ð0; þ1Þ ! R is
given by

 ðnÞ Z t
1 d f ðsÞ
Da0þ f ðtÞ ¼ anþ1 ds;
Cðn  aÞ dt 0 ðt  sÞ

where n ¼ ½a þ 1; ½a denotes the integer part of number a, provided that the right side is pointwise defined on ð0; þ1Þ.

Definition 2.2 [22]. The Riemann–Liouville fractional integral of order a > 0 of a function f : ð0; þ1Þ ! R is given by
Z t
1
Ia0þ f ðtÞ ¼ ðt  sÞa1 f ðsÞds;
CðaÞ 0

provided that the right side is pointwise defined on ð0; þ1Þ.

From the definition of the Riemann–Liouville derivative, we can obtain the following statement.

Lemma 2.1 [22]. Let a > 0. If we assume u 2 Cð0; 1Þ \ Lð0; 1Þ, then the fractional differential equation

Da0þ uðtÞ ¼ 0
has uðtÞ ¼ c1 ta1 þ c2 t a2 þ    þ cn tan ; ci 2 R; i ¼ 1; 2; . . . ; n, as unique solutions, where n is the smallest integer greater than or
equal to a.
 S. Sun et al. / Commun Nonlinear Sci Numer Simulat 17 (2012) 4961–4967 4963

Lemma 2.2 [22]. Assume that u 2 Cð0; 1Þ \ Lð0; 1Þ with a fractional derivative of order a > 0 that belongs to Cð0; 1Þ \ Lð0; 1Þ.
Then

Ia0þ Da0þ uðtÞ ¼ uðtÞ þ c1 t a1 þ c2 t a2 þ    þ cn t an ;

for some ci 2 R; i ¼ 1; 2; . . . ; n, where n is the smallest integer greater than or equal to a.
In the following, we present the Green function of fractional differential equation boundary value problem.

Lemma 2.3. Let y 2 C½0; 1 and 1 < a 6 2. The unique solution of problem
 
xðtÞ
Da0þ þ yðtÞ ¼ 0; 0 < t < 1; ð2:1Þ
f ðt; xðtÞÞ

xð0Þ ¼ xð1Þ ¼ 0 ð2:2Þ

is
Z 1
xðtÞ ¼ f ðt; xðtÞÞ Gðt; sÞyðsÞds;
0

where
8 a1 a1
< ½tð1sÞ ðtsÞ ; 0 6 s 6 t 6 1;
CðaÞ
Gðt; sÞ ¼ ð2:3Þ
: ½tð1sÞa1 ; 0 6 t 6 s 6 1:
CðaÞ

Here Gðt; sÞ is called the Green function of boundary value problem (2.1) and (2.2).

Proof. We may apply Lemma 2.2 to reduce (2.1) to an equivalent integral equation
xðtÞ
¼ Ia0þ yðtÞ þ c1 ta1 þ c2 t a2 ;
f ðt; xðtÞÞ
for some c1 ; c2 2 R. Consequently, the general solution of (2.1) is
 Z t 
1
xðtÞ ¼ f ðt; xðtÞÞ  ðt  sÞa1 yðsÞds þ c1 t a1 þ c2 t a2 :
CðaÞ 0
By (2.2), we get c2 ¼ 0 and
Z 1
1
c1 ¼ ð1  sÞa1 yðsÞds:
CðaÞ 0

Therefore, the unique solution of problem (2.1) and (2.2) is

 Z t Z 1 
1 1
xðtÞ ¼ f ðt; xðtÞÞ  ðt  sÞa1 yðsÞds þ ½tð1  sÞa1 yðsÞds
CðaÞ 0 CðaÞ 0
 Z t Z 1  Z 1
1 1
¼ f ðt; xðtÞÞ f½tð1  sÞa1  ðt  sÞa1 gyðsÞds þ ½tð1  sÞa1 yðsÞds ¼ f ðt; xðtÞÞ Gðt; sÞyðsÞds:
CðaÞ 0 CðaÞ t 0

The proof is complete.

Lemma 2.4 [16]. The function Gðt; sÞ defined by (2.3) satisfies the following conditions:

(1) Gðt; sÞ > 0, for t; s 2 ð0; 1Þ;

(2) max Gðt; sÞ ¼ Gðs; sÞ, for s 2 ð0; 1Þ.
t2½0;1

Define a supremum norm k  k in CðJ; RÞ by

kxk ¼ supjxðtÞj
t2J

and a multiplication in CðJ; RÞ by

ðxyÞðtÞ ¼ xðtÞyðtÞ
for x; y 2 CðJ; RÞ. Clearly CðJ; RÞ is a Banach algebra with respect to above norm and multiplication in it. By L1 ðJ; RÞ denote the
space of Lebesgue integrable real-valued functions on J equipped with the norm k  kL1 defined by
4964 S. Sun et al. / Commun Nonlinear Sci Numer Simulat 17 (2012) 4961–4967

Z 1
kxkL1 ¼ jxðsÞjds:
0

The following fixed point theorem in Banach algebra due to Dhage [23] is fundamental in the proofs of our main results.

Lemma 2.5 [23]. Let S be a non-empty, closed convex and bounded subset of the Banach algebra X and let A : X ! X and
B : S ! X be two operators such that

(a) A is Lipschitzian with a Lipschitz constant a,

(b) B is completely continuous,
(c) x ¼ AxBy ) x 2 S for all y 2 S, and
(d) aM < 1, where M ¼ kBðSÞk ¼ supfkBðxÞk : x 2 Sg. Then the operator equation AxBx ¼ x has a solution in S.

3. Existence result

In this section, we prove the existence results for the FHDE (1.1) on the closed and bounded interval J ¼ ½0; 1 under mixed
Lipschitz and Carathéodory conditions on the nonlinearities involved in it. We place the FHDE (1.1) in the space CðJ; RÞ of
continuous real-valued functions defined on J.
For convenience, we denote
Z 1
T¼ Gðs; sÞds:
0

We consider the following hypotheses in what follows.

ðH1 Þ There exists a constant L > 0 such that

jf ðt; xÞ  f ðt; yÞj 6 Ljx  yj
for all t 2 J and x; y 2 R.
ðH2 Þ There exists a function h 2 L1 ðJ; Rþ Þ such that
jgðt; xÞj 6 hðtÞ; t2J
for all x 2 R.

Theorem 3.1. Assume that hypotheses ðH1 Þ and ðH2 Þ hold. Further, if
LTkhkL1 < 1; ð3:1Þ
then boundary value problem (1.1) and (1.2) has a solution defined on J.
Proof. Set X ¼ CðJ; RÞ and define a subset S of X defined by
S ¼ fx 2 Xj kxk 6 Ng; ð3:2Þ
F 0 TkhkL1
where N ¼ and F 0 ¼ supt2J jf ðt; 0Þj.
1LTkhkL1
Clearly S is a closed, convex and bounded subset of the Banach space X. By Lemma 2.3, boundary value problem (1.1) and
(1.2) is equivalent to the equation
Z 1
xðtÞ ¼ f ðt; xðtÞÞ Gðt; sÞgðs; xðsÞÞds; t 2 J: ð3:3Þ
0

Define two operators A : X ! X and B : S ! X by

AxðtÞ ¼ f ðt; xðtÞÞ; t2J ð3:4Þ
and
Z 1
BxðtÞ ¼ Gðt; sÞgðs; xðsÞÞds; t 2 J: ð3:5Þ
0

Then Eq. (3.3) is transformed into the operator equation as

AxðtÞBxðtÞ ¼ xðtÞ; t 2 J: ð3:6Þ
We shall show that the operators A and B satisfy all the conditions of Lemma 2.5.
First, we show that A is a Lipschitz operator on X with the Lipschitz constant L. Let x; y 2 X. Then by hypothesis ðA1 Þ,
 S. Sun et al. / Commun Nonlinear Sci Numer Simulat 17 (2012) 4961–4967 4965

jAxðtÞ  AyðtÞj ¼ jf ðt; xðtÞÞ  f ðt; yðtÞÞj 6 LjxðtÞ  yðtÞj 6 Lkx  yk

for all t 2 J. Taking supremum over t, we obtain
kAx  Ayk 6 Lkx  yk
for all x; y 2 X.
Next, we show that B is a compact and continuous operator on S into X. First we show that B is continuous on S. Let fxn g be
a sequence in S converging to a point x 2 S. Then by Lebesgue dominated convergence theorem,
Z 1 Z 1 Z 1
lim Bxn ðtÞ ¼ lim Gðt; sÞgðs; xn ðsÞÞds ¼ Gðt; sÞlim gðs; xn ðsÞÞds ¼ Gðt; sÞgðs; xðsÞÞds ¼ BxðtÞ
n!1 n!1 0 0 n!1 0

for all t 2 J. This shows that B is a continuous operator on S.

Next we show that B is a compact operator on S. It is enough to show that BðSÞ is a uniformly bounded and equicontinuous
set in X. On the one hand, let x 2 S be arbitrary. By Lemma 2.4, we have
Z  Z
 1  1
jBxðtÞj ¼  Gðt; sÞgðs; xðsÞÞds 6 Gðs; sÞhðsÞds 6 TkhkL1
0 0

for all t 2 J. Taking supremum over t,

kBxk 6 TkhkL1

for all x 2 S. This shows that B is uniformly bounded on S.

On the other hand, given  > 0, let
 
1 Cða þ 1Þ
d < min ; :
2 6khkL1

Then for any x 2 S; t 1 ; t 2 2 ½0; 1 with t1 < t 2 , 0 < t2  t1 < d, we have

Z Z  Z
 1 1  
½t2 ð1  sÞa1 ds  ðt2  sÞa1
t2

jBxðt 2 Þ  Bxðt1 Þj ¼  Gðt 2 ; sÞgðs; xðsÞÞds  
Gðt1 ; sÞgðs; xðsÞÞds 6 khkL1 
0 0 0  CðaÞ
Z 1 Z Z 
½t 2 ð1  sÞa1 t1
½t 1 ð1  sÞa1  ðt1  sÞa1 1
½t 1 ð1  sÞa1 
þ ds  ds  ds
t2 CðaÞ 0 CðaÞ t1 CðaÞ 
Z 1 a1 Z
½t 2  t1a1 ð1  sÞa1 t1
ðt 2  sÞa1  ðt 1  sÞa1
6 khkL1 ds þ khkL1 ds
0 C ð aÞ 0 CðaÞ
Z t2
ðt2  sÞa1 khkL1 a1

þ khkL1 ds 6 t  t 1a1 þ t a2  ta1 :

t1 CðaÞ Cða þ 1Þ 2

In order to estimate t2a1  t 1a1 and ta2  ta1 , we divide the proof into three cases.
Case 1: 0 6 t1 < d; t2 < 2d.

t2a1  t1a1 6 t 2a1 < ð2dÞa1 6 2a1 d 6 2d; t a2  t a1 6 ta2 < ð2dÞa 6 2a d 6 4d:
Case 2: 0 < t 1 < t 2 6 d.

t2a1  t1a1 6 t 2a1 < da1 6 ða  1Þd < 2d; t a2  t a1 6 ta2 < da 6 ad < 4d:
Case 3: d 6 t 1 < t 2 6 1.

t2a1  t1a1 6 ða  1Þd < 2d; t a2  ta1 6 ad < 4d:

Thus, we obtain

jBxðt 2 Þ  Bxðt1 Þj < 

for all t1 ; t2 2 J and for all x 2 S. This shows that BðSÞ is an equicontinuous set in X. Now the set BðSÞ is uniformly bounded and
equicontinuous set in X, so it is compact by Arzela–Ascoli Theorem. As a result, B is a complete continuous operator on S.
Next, we show that hypothesis ðcÞ of Lemma 2.5 is satisfied. Let x 2 X and y 2 S be arbitrary such that x ¼ AxBy. Then, by
assumption ðA1 Þ, we have
Z  Z 
 1  1
jxðtÞj ¼ jAxðtÞjjByðtÞj ¼ jf ðt; xðtÞÞj Gðt; sÞgðs; yðsÞÞds 6 ½jf ðt; xðtÞÞ  f ðt; 0Þj þ jf ðt; 0Þj Gðs; sÞgðs; yðsÞÞds
0 0

6 ½LjxðtÞj þ F 0 TkhkL1 :
4966 S. Sun et al. / Commun Nonlinear Sci Numer Simulat 17 (2012) 4961–4967

Thus,
F 0 TkhkL1
jxðtÞj 6 :
1  LTkhkL1
Taking supremum over t,
F 0 TkhkL1
kxk 6 ¼ N:
1  LTkhkL1
This shows that hypothesis ðcÞ of Lemma 2.5 is satisfied. Finally, we have
M ¼ kBðSÞk ¼ supfkBxk : x 2 Sg 6 TkhkL1
and so,
aM 6 LTkhkL1 < 1:
Thus, all the conditions of Lemma 2.5 are satisfied and hence the operator equation AxBx ¼ x has a solution in S. As a result,
the the boundary value problem (1.1) and (1.2) has a solution defined on J. This completes the proof.
Remark 3.1. For the special case f ðt; xÞ  1, we can find the corresponding existence results in Bai and Lü (see [16]).

4. Examples

In this section, we will present two examples to illustrate the main results.

Example 4.1. Consider the boundary value problem

3
D20þ xðtÞ þ sin x ¼ 0; 0 < t < 1; ð4:1Þ

xð0Þ ¼ xð1Þ ¼ 0; ð4:2Þ

3
where a ¼ 2
.
Let f ðt; xÞ  1; gðt; xÞ ¼ sin x; hðtÞ  1. Then hypotheses ðH1 Þ and ðH2 Þ hold. Since
Z Z Z 1 pffiffiffiffi
1 1
½sð1  sÞa1 1
½sð1  sÞ2 p
T¼ Gðs; sÞds ¼ ds ¼ ds ¼ ;
0 0 CðaÞ 0 Cð32Þ 4
pffiffiffiffi
choosing L ¼ 1, then LTkhkL1 ¼ p=4 < 1. Therefore, the boundary value problem (4.1) and (4.2) has a solution.

Example 4.2. Consider the boundary value problem

 
3 xðtÞ
D20þ þ cos x ¼ 0; 0 < t < 1; ð4:3Þ
sin x þ 2

xð0Þ ¼ xð1Þ ¼ 0; ð4:4Þ

3
where a ¼ .
2 pffiffiffiffi
Let f ðt; xÞ ¼ sin x þ 2; gðt; xÞ ¼ cos x; hðtÞ  1. Then hypotheses ðH1 Þ and ðH2 Þ hold. Since T ¼ p=4, choosing L ¼ 1, then
pffiffiffiffi
LTkhkL1 ¼ p=4 < 1. Therefore, the boundary value problem (4.3) and (4.4) has a solution.

Acknowledgments

The authors sincerely thank the referees for their constructive suggestions which improve the content of the paper.

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