Positive Solutions for the Initial Value Problem of Fractional Evolution Equations
Abstract
By using the fixed point theorems and the theory of analytic semigroup, we investigate the existence of positive mild solutions to the Cauchy problem of Caputo fractional evolution equations in Banach spaces. Some existence theorems are obtained under the case that the analytic semigroup is compact and noncompact, respectively. As an example, we study the partial differential equation of the parabolic type of fractional order.
1. Introduction
The differential equations involving fractional derivatives in time have recently been studied extensively. One can see, for instance, the monographs [1–5] and the survey [6–8]. In particular, there has been a significant development in fractional evolution equations. Existence of solutions for fractional evolution equations has been studied by many authors during recent years. Many excellent results are obtained in this field; see [9–19] and the references therein. In [9, 10], El-Borai first constructed the type of mild solutions to fractional evolution equations in terms of a probability density. And then the author investigated the existence, uniqueness, and regularity of solutions of fractional integrodifferential equations in [11, 12]. Recently, this theory was developed by Zhou et al. [13–16]. Particularly, they studied the existence and controllability of mild solution of fractional delay integrodifferential equations with a compact analytic semigroup in [16]. In [17–19], the authors studied the existence of mild solutions of fractional impulsive delay or impulsive evolution equations. But as far as we know, there are no results on the existence of positive solutions of fractional evolution equations.
The rest of this paper is organized as follows. In Section 2, some preliminaries are given on the fractional power of the generator of the analytic semigroup and the definition of mild solutions of IVP(1). In Section 3, we study the existence of positive mild solutions for the IVP(1). In Section 4, an example is given to illustrate the applicability of abstract results obtained in Section 3.
2. Preliminaries
In this section, we introduce some basic facts about the fractional power of the generator of analytic semigroup and the fractional calculus that are used throughout this paper.
We denote by Xα the Banach space of D(Aα) equipped with norm ∥x∥α = ∥Aαx∥ for x ∈ D(Aα), which is equivalent to the graph norm of Aα. Then we have Xβ↪Xα for 0 ≤ α ≤ β ≤ 1 (with X0 = X), and the embedding is continuous. Moreover, Aα has the following basic properties.
Lemma 1 (see [23].) Aα has the following properties.
- (i)
S(t) : X → Xα for each t > 0 and α ≥ 0.
- (ii)
AαS(t)x = S(t)Aαx for each x ∈ D(Aα) and t ≥ 0.
- (iii)
For every t > 0, AαS(t) is bounded in X and there exists Mα > 0 such that
(3)
Lemma 2 (see [24].)If S(t) (t ≥ 0) is a compact semigroup in X, then Sα(t) (t ≥ 0) is a compact semigroup in Xα, and hence it is norm continuous.
Let us recall the following known definitions in fractional calculus. For more details, see [9, 13–16, 18, 19].
Definition 3. The fractional integral of order σ > 0 with the lower limits zero for a function f is defined by
The Riemann-Liouville fractional derivative of order n − 1 < σ < n with the lower limits zero for a function f can be written as
Remark 4. (1) The Caputo derivative of a constant is equal to zero.
(2) If f is an abstract function with values in X, then integrals which appear in Definition 3 are taken in Bochner′s sense.
Lemma 5 (see [14].)A measurable function h : J → X is Bochner integrable if ∥h∥ is Lebesgue integrable.
The following lemma follows from the results in [14, Lemma 2.9] and [15, Lemmas 3.2–3.5].
Lemma 6. The operators U(t) and V(t) have the following properties.
- (i)
For any fixed t ≥ 0 and any x ∈ Xα, one has
(11) - (ii)
The operators U(t) and V(t) are strongly continuous for all t ≥ 0.
- (iii)
If the semigroup S(t) (t ≥ 0) is compact, then U(t) and V(t) are compact operators in X for t > 0.
- (iv)
If the semigroup Sα(t) (t ≥ 0) is norm continuous, then the restriction of U(t) to Xα and the restriction of V(t) to Xα are uniformly continuous for t > 0.
Definition 7 (see [25], [26].)Let B be a bounded set of a real Banach space E. Set β(B) = inf{δ > 0: B can be expressed as the union of a finite number of sets such that the diameter of each set does not exceed δ; that is, with diam(Bi) ≤ δ, i = 1,2, …, m}. β(B) is called the Kuratowski measure of noncompactness of set B.
It is clear that 0 ≤ β(B) < ∞. For the Kuratowski measure of noncompactness, we have the following well-known results.
Lemma 8 (see [26].)If D ∈ C(J, E) is bounded and equicontinuous, then
Lemma 9 (see [27].)Let D be a countable set of strongly measurable function x : J → E such that there exists an M ∈ L(J, ℝ+) such that ∥x(t)∥≤M(t) a.e., t ∈ J for all x ∈ D. Then β(D(t)) ∈ L(J, ℝ+) and
Lemma 10 (see [25] Mönch fixed point theorem.)Let B be a closed and convex subset of E and y0 ∈ B. Assume that the continuous operator A : B → B has the following property: D ⊂ B is countable, and is relatively compact. Then A has a fixed point in B.
Based on an overall observation of the previous related literature, in this paper we adopt the following definition of mild solution of IVP(1).
Definition 11. By a mild solution of the IVP(1), one means a function u ∈ C(J, Xα) satisfying
3. Existence of Positive Mild Solutions
In this section, we introduce the existence theorems of positive mild solutions of the IVP(1). The discussions are based on fractional calculus and fixed point theorems.
Theorem 12. Let −A : D(A) ⊂ X → X be the infinitesimal generator of a positive and compact analytic semigroup S(t) (t ≥ 0) of uniformly bounded linear operators. Assume that f ∈ C(ℝ+ × Xα, X) satisfies the following conditions.
-
(H1 For any u ∈ Ωr, one has
(16) -
H2 f maps bounded sets of ℝ+ × Xα into bounded sets of X.
Proof. For any t0 ≥ 0 and x0 ∈ Xα with x0 ≥ σe1, we first prove that the initial value problem (IVP) of fractional evolution equations
Let . Denote
Define an operator Q by
We first prove that is continuous. Let . For any and t ∈ J, by Lemma 6, (10), (19), and (20), we have
Let v0 ≡ σe1. Then v0(t) = σe1 for any t ∈ J and
By using a similar argument as in the proof of Theorem 3.1 in [14], we can prove that is a compact operator. Hence by Schauder fixed point theorem, the operator Q has at least one fixed point u* in , which satisfies u*(t) ≥ σe1 > 0 for all t ∈ J. Hence u* is a positive mild solution of the IVP(1) on J.
Therefore, there exists [0, h0] such that the IVP(1) has at least one positive mild solution u* ∈ C([0, h0], Xα). Now, by the standard proof method of extension theorem of initial value problem, u* can be extended to a saturated solution u ∈ C([0, T), Xα) of the IVP(1), whose existence interval is [0, T), and if T < ∞, we have
-
for any u1, u2 ∈ Ωr with u1(t) ≤ u2(t) for all t ∈ [0, T], we have
(24)
Corollary 13. Let −A : D(A) ⊂ X → X be the infinitesimal generator of a positive and compact analytic semigroup S(t) (t ≥ 0) of uniformly bounded linear operators. Assume that f ∈ C(ℝ+ × Xα, X) satisfies condition (H1)* and
-
(H2)* there exists a constant af > 0 such that
(25)
If f(t, σe1) ≥ λ1σe1 for all t ∈ [0, T], u0 ∈ Xα with u0 ≥ σe1 and αq < 1/2 for some 1/2 < q < 1, then the IVP(1) has at least one positive mild solution u ∈ C([0, T), Xα). And if t < ∞, one has
Since the analytic semigroup is norm continuous, it follows that we can delete the compactness condition on the analytic semigroup S(t) (t ≥ 0) and obtain the following existence result.
Theorem 14. Assume that −A : D(A) ⊂ X → X is the infinitesimal generator of a positive analytic semigroup S(t) (t ≥ 0) of uniformly bounded linear operators, and that f ∈ C(ℝ+ × Xα, X) satisfies the condition (H1) and
-
H3 for any T > 0 and r > 0, f(t, Ωr): = {f(t, u) : u ∈ Ωr} is relatively compact in Xα for all t ∈ [0, T], where Ωr is defined as in (15).
Proof. For any t0 ≥ 0 and x0 ∈ Xα with x0 ≥ σe1, we first prove that the IVP(17) has at least one positive mild solution on , where is a constant and will be specified later. Define an operator Q as in (20). Let . Write as in (18). The condition (H3) implies that is bounded for any t ∈ J, that is, there is a positive constant C = C(t0) such that
Thus, for any , let D(t): = {u(t) : u ∈ D}, t ∈ J. Since is equicontinuous and bounded, by Lemma 8, we have
Now, let with for some . It is obvious that
Therefore, there exists [0, h0] such that the IVP(1) has at least one positive mild solution u* ∈ C([0, h0], Xα). u* can be extended to a saturated solution u ∈ C([0, T), Xα) of IVP(1), whose existence interval is [0, T) and when t ≤ ∞, we have .
4. Positive Mild Solutions of Parabolic Equations
-
F1 For any T > 0 and r > 0, there exists a constant σ > 0 such that
(34)
-
F2 For any T > 0, there exists a constant af > 0 such that
(35)
Theorem 15. Assume that is continuous and satisfies conditions (F1) and (F2). If with φ(x) ≥ σe1(x) for any and 1/2 < q < 1, then the IBVP(33) has at least one positive mild solution u that satisfies u(x, t) ≥ σe1(x) for any and t ∈ [0, T]. And if T < +∞, one has
Acknowledgments
This research was supported by the NNSF of China (Grant no. 11261053), the Fundamental Research Funds for the Gansu Universities, and the Project of NWNU-LKQN-11-3.