Existence of Asymptotically Almost Automorphic Mild Solutions of Semilinear Fractional Differential Equations
Abstract
This paper is concerned with the existence of asymptotically almost automorphic mild solutions to a class of abstract semilinear fractional differential equations where 1 < α < 2, A is a linear densely defined operator of sectorial type on a complex Banach space X and B is a bounded linear operator defined on X, F is an appropriate function defined on phase space, and the fractional derivative is understood in the Riemann-Liouville sense. Combining the fixed point theorem due to Krasnoselskii and a decomposition technique, we prove the existence of asymptotically almost automorphic mild solutions to such problems. Our results generalize and improve some previous results since the (locally) Lipschitz continuity on the nonlinearity F is not required. The results obtained are utilized to study the existence of asymptotically almost automorphic mild solutions to a fractional relaxation-oscillation equation.
1. Introduction
The almost periodic function introduced seminally by Bohr in 1925 plays an important role in describing the phenomena that are similar to the periodic oscillations which can be observed frequently in many fields, such as celestial mechanics, nonlinear vibration, electromagnetic theory, plasma physics, engineering, and ecosphere. The concept of almost automorphy, which is an important generalization of the classical almost periodicity, was first introduced in the literature [1–4] by Bochner in relation to some aspects of differential geometry. Since then, this pioneer work has attracted more and more attention and has been substantially extended in several different directions. Many authors have made important contributions to this theory (see, for instance, [5–17] and the references therein). Especially, in [5, 6], the authors gave an important overview about the theory of almost automorphic functions and their applications to differential equations.
As a natural extension of almost automorphy, the concept of asymptotic almost automorphy, which is the central issue to be discussed in this paper, was introduced in the literature [18] by N’Guérékata in the early eighties. Since then, this notion has found several developments and has been generalized into different directions. Until now, the asymptotically almost automorphic functions as well as the asymptotically almost automorphic solutions for differential systems have been investigated by many mathematicians; see [19] by Bugajewski and N’Guérékata, [20] by Diagana, Hernández, and dos Santos, and [21] by Ding, Xiao, and Liang for the asymptotically almost automorphic solutions to integrodifferential equations, see [22] by Zhao, Chang, and N’Guérékata for the asymptotically almost automorphic solutions to the nonlinear delay integral equations, and see [23] by Chang and Tang and [24] by Zhao, Chang, and Nieto for the asymptotically almost automorphic solutions to stochastic differential equations, and the existence of asymptotically almost automorphic solutions has become one of the most attractive topics in the qualitative theory of differential equations due to its significance and applications in physics, mathematical biology, control theory, and so on. We refer the reader to the monographs of N’Guérékata [25] for the recently theory and applications of asymptotically almost automorphic functions.
With motivation coming from a wide range of engineering and physical applications, fractional differential equations have recently attracted great attention of mathematicians and scientists. This kind of equations is a generalization of ordinary differential equations to arbitrary noninteger orders. Fractional differential equations find numerous applications in the field of viscoelasticity, feedback amplifiers, electrical circuits, electro analytical chemistry, fractional multipoles, neuron modelling encompassing different branches of physics, chemistry, and biological sciences [26–32]. Many physical processes appear to exhibit fractional order behavior that may vary with time or space. In recent years, there has been a significant development in ordinary and partial differential equations involving fractional derivatives; we only enumerate here the monographs of Kilbas et al. [26, 27], Diethelm [28], Hilfer [29], Podlubny [30], Miller [31], and Zhou [32] and the papers of Agarwal et al. [33, 34], Benchohra et al. [35, 36], El-Borai [37], Lakshmikantham et al. [38–41], Mophou et al. [42–45], N’Guérékata [46], and Zhou et al. [47–50] and the reference therein.
Equation (6) is motivated by physical problems. Indeed, due to their applications in fields of science where characteristics of anomalous diffusion are presented, type (6) equations are attracting increasing interest (cf. [68–70] and references therein). For example, anomalous diffusion in fractals [69] or in macroeconomics [71] has been recently well studied in the setting of fractional Cauchy problems like (6). For this reason, (6) has gotten a considerable attention in recent years (cf. [51–64, 68–71] and the references therein).
The rest of this paper is organized as follows. In Section 2, some concepts, the related notations, and some useful lemmas are introduced and established. In Section 3, we prove the existence of asymptotically almost automorphic mild solutions to such problems. The results obtained are utilized to study the existence of asymptotically almost automorphic mild solutions to a fractional relaxation-oscillation equation given in Section 4.
2. Preliminaries
This section is concerned with some notations, definitions, lemmas, and preliminary facts which are used in what follows.
First, let us recall some basic definitions and results on almost automorphic and asymptotically almost automorphic functions.
Definition 1 ((Bochner) [1] (N’Guérékata) [6]). A continuous function is said to be almost automorphic if for every sequence of real numbers , there exists a subsequence {sn} such that
Denote by the set of all such functions.
Remark 2 (see [6].)By the point-wise convergence, the function Θ(t) in Definition 1 is measurable but not necessarily continuous. Moreover, if Θ(t) is continuous, then F(t) is uniformly continuous (cf., e.g., [17], Theorem 2.6), and if the convergence in Definition 1 is uniform on , one gets almost periodicity (in the sense of Bochner and von Neumann). Almost automorphy is thus a more general concept than almost periodicity. There exists an almost automorphic function which is not almost periodic. The function given by
Lemma 3 (see [5].) is a Banach space with the norm .
Definition 4 (see [6].)A continuous function is said to be almost automorphic in uniformly for all (x, y) ∈ K, where K is any bounded subset of Y × Y, if for every sequence of real numbers , there exists a subsequence {sn} such that
Remark 5. The function given by
Similar to Lemma 2.2 of [73] and Proposition 3.2 of [63], we have the following result on almost automorphic functions.
Lemma 6. Let be almost automorphic in uniformly for all (x, y) ∈ K, where K is any bounded subset of X × X, and assume that F(t, x, y) is uniformly continuous on K uniformly for , that is, for any ε > 0, there exists δ > 0 such that x1, x2, y1, y2 ∈ K and ‖x1 − y1‖ + ‖x2 − y2‖ < δ imply that
Proof. Suppose that {sn} is a sequence of real numbers. Then by the definition of almost automorphic functions, we can extract a subsequence {τn} of {sn} such that
Remark 7. If F(t, x, y) satisfies a Lipschitz condition with respect to x and y uniformly in , i.e., for each pair x1, x2, y1, y2 ∈ X,
Remark 8. If F(t, x, y) satisfies a local Lipschitz condition with respect to x and y uniformly in , i.e., for each pair x1, x2, y1, y2 ∈ X, ,
Definition 9 (see [6].)A continuous function is said to be asymptotically almost automorphic if it can be decomposed as F(t) = G(t) + Φ(t), where
Denote by the set of all such functions.
Remark 10. The function defined by
Lemma 11 (see [6].) is also a Banach space with the supremum norm ‖·‖∞.
Definition 12 (see [6].)A continuous function is said to be asymptotically almost automorphic if it can be decomposed as F(t, x, y) = G(t, x, y) + Φ(t, x, y), where
Denote by the set of all such functions.
Remark 13. The function given by
Next we give some basic definitions and properties of the fractional calculus theory which are used further in this paper.
Definition 14 (see [26].)The fractional integral of order α > 0 with the lower limit t0 for a function f is defined as
Definition 15 (see [26].)Riemann-Liouville derivative of order α > 0 with the lower limit t0 for a function can be written as
The first and maybe the most important property of Riemann-Liouville fractional derivative is that, for t > t0 and α > 0, one has , which means that Riemann-Liouville fractional differentiation operator is a left inverse to the Riemann-Liouville fractional integration operator of the same order α.
It is important to define sectorial operator for the definition of mild solution of any fractional abstract equations. So, let us now give the definitions of sectorial linear operators and their associated solution operators.
Definition 16 ([74] sectorial operator). A closed and linear operator A is said to be sectorial of type ω and angle θ if there exist 0 < θ < π/2, M > 0, and such that its resolvent ρ(A) exists outside the sector and
Sectorial operators are well studied in the literature, usually for the case ω = 0. For a recent reference including several examples and properties we refer the reader to [74]. Note that an operator A is sectorial of type ω if and only if ωI − A is sectorial of type 0.
Definition 17 (see [75].)Let A be a closed and linear operator with domain D(A) defined on a Banach space X. We call A the generator of a solution operator if there are and a strongly continuous function such that {λα : Reλ > ω}⊆ρ(A) and
In the following, we present the following compactness criterion, which is a special case of the general compactness result of Theorem 2.1 in [76].
Lemma 18 (see [76].)A set is relatively compact if
- (1)
D is equicontinuous;
- (2)
lim|t|⟶∞x(t) = 0 uniformly for x ∈ D;
- (3)
the set D(t)≔{x(t) : x ∈ D} is relatively compact in X for every .
The following Krasnoselskii’s fixed point theorem plays a key role in the proofs of our main results, which can be found in many books.
Lemma 19 (see [77].)Let U be a bounded closed and convex subset of X and J1, J2 be maps of U into X such that J1x + J2y ∈ U for every pair x, y ∈ U. If J1 is a contraction and J2 is completely continuous, then J1x + J2x = x has a solution on U.
3. Asymptotically Almost Automorphic Mild Solutions
We recall the following definition that will be essential for us.
Definition 20 (see [63].)Assume that A generates an integrable solution operator Sα(t). A continuous function satisfying the integral equation
In the proofs of our results, we need the following auxiliary result.
Lemma 21. Given and , let
Proof. Firstly, note that
By a similar argument one can obtain
Since , one can choose an N1 > 0 such that ‖Z(t)‖ < ε for all t > N1. This enables us to conclude that, for all t > N1,
Now we are in position to state and prove our first main result. To prove our main result, let us introduce the following assumptions:
Remark 22. Assuming that F(t, x, y) satisfies the assumption (H1), it is noted that F(t, x, y) does not have to meet the Lipschitz continuity with respect to x and y. Such class of asymptotically almost automorphic functions F(t, x, y) are more complicated than those with Lipschitz continuity with respect to x and y and little is known about them.
Let β(t) be the function involved in assumption (H2). Define
Lemma 23. .
Proof. Since , one can choose a T1 > 0 such that ‖β(t)‖ < ε for all t > T1. This enables us to conclude that, for all t > T1,
Theorem 24. Assume that A is sectorial of type ω < 0. Let satisfy the hypotheses (H1) and (H2). Put . Then (39) has at least one asymptotically almost automorphic mild solution provided that
Proof. The proof is divided into the following five steps.
Step 1. Define a mapping Λ on by
Firstly, since the function s⟶F1(s, v(s), Bv(s)) is bounded in and
In the sequel, we verify that Λ is continuous.
Let vn(t), v(t) be in with vn(t)⟶v(t) as n⟶∞; then one has
Next, we prove that Λ is a contraction on and has a unique fixed point .
In fact, let v1(t), v2(t) be in , and similar to the above proof of the continuity of Λ, one has
Step 2. Set
Firstly, from (54) it follows that, for all and ω(s) ∈ X,
On the other hand, in view of (55) and (61) it is not difficult to see that there exists a constant k0 > 0 such that
Step 3. Show that Γ1 is a contraction on .
In fact, for any and , from (54) it follows that
Step 4. Show that Γ2 is completely continuous on .
Given ε > 0. Let with ωk⟶ω0 in as k⟶+∞. Since , one may choose a t1 > 0 big enough such that, for all t ≥ t1,
In the sequel, we consider the compactness of Γ2.
Set Br(X) for the closed ball with center at 0 and radius r in X, , and z(t) = Γ2(u(t)) for . First, for all and ,
Next, we verify the equicontinuity of the set .
Let k > 0 be small enough and and . Then by (55) we have
Now an application of Lemma 18 justifies the compactness of Γ2.
Step 5. Show that (39) has at least one asymptotically almost automorphic mild solution.
Firstly, the complete continuity of Γ2, together with the results of Steps 2 and 3 as well as Lemma 19, yields that Γ has at least one fixed point ; furthermore .
Then, consider the following coupled system of integral equations:
Taking A = −ραI with ρ > 0 in (39), the above theorem gives the following corollary.
Corollary 25. Let satisfy (H1) and (H2). Put . Then (39) admits at least one asymptotically almost automorphic mild solution whenever
Remark 26. It is interesting to note that the function α⟶αsin(π/α)/ρπ is increasing from 0 to 2/ρπ in the interval 1 < α < 2. Therefore, with respect to condition (61), the class of admissible terms F1(t, x(t), Bx(t)) is the best in the case α = 2 and the worst in the case α = 1.
Theorem 24 can be extended to the case of F1(t, x, y) being locally Lipschitz continuous with respect to x and y, where we have the following result.
with
Theorem 27. Assume that A is sectorial of type ω < 0. Let satisfy the hypotheses () and (H2) with . Put . Let . Then (39) has at least one asymptotically almost automorphic mild solution provided that
Proof. The proof is divided into the following five steps.
Step 1. Define a mapping Λ on by (62) and prove that Λ has a unique fixed point .
Firstly, similar to the proof in Step 1 of Theorem 24, we can prove that (Λv)(t) exists. Moreover from satisfying (97), together with Lemma 6 and Remark 8, it follows that
In the sequel, we verify that Λ is continuous.
Let vn(t), v(t) be in with vn(t)⟶v(t) as n⟶∞; then one has
Next, we prove that Λ is a contraction on and has a unique fixed point .
In fact, for v1(t), v2(t) in , similar to the above proof of the continuity of Λ, one has
Step 2. Set
Firstly, from (97) it follows that, for all , ω(s) ∈ X,
On the other hand, in view of (55) and (98) it is not difficult to see that there exists a constant k0 > 0 such that
Step 3. Show that Γ1 is a contraction on .
In fact, for any and , from (97) it follows that
Step 4. Show that Γ2 is completely continuous on .
The proof is similar to the proof in Step 4 of Theorem 24.
Step 5. Show that (39) has at least one asymptotically almost automorphic mild solution.
The proof is similar to the proof in Step 5 of Theorem 24.
Taking A = −ραI with ρ > 0 in (39), Theorem 27 gives the following corollary.
Corollary 28. Let satisfy and (H2) with . Put . Let . Then (39) admits at least one asymptotically almost automorphic mild solution whenever
Now we consider a more general case of equations introducing a new class of functions L(t). We have the following result.
Theorem 29. Assume that A is sectorial of type ω < 0. Let satisfy the hypotheses () and () with . Moreover the integral exists for all . Then (39) has at least one asymptotically almost automorphic mild solution.
Proof. The proof is divided into the following five steps.
Step 1. Define a mapping Λ on by (62) and prove that Λ has a unique fixed point .
Firstly, similar to the proof in Step 1 of Theorem 27, we can prove that Λ is well defined and maps into itself; moreover Λ is continuous.
Next, we prove that Λ is a contraction on and has a unique fixed point .
In fact, for v1(t), v2(t) is in and defines a new norm
Step 2. Set . For the above v(t), define Γ≔Γ1 + Γ2 on as (69) and prove that Γ maps into itself, where k0 is a given constant.
Firstly, from (97) it follows that, for all , ω(s) ∈ X,
On the other hand, it is not difficult to see that there exists a constant k0 > 0 such that
Step 3. Show that Γ1 is a contraction on .
In fact, for any and , from (97) it follows that
Step 4. Show that Γ2 is completely continuous on .
Given ε > 0. Let with ωn⟶ω0 in as n⟶+∞. Since , one may choose a t1 > 0 big enough such that, for all t ≥ t1,
In the sequel, we consider the compactness of Γ2.
Set Br(X) for the closed ball with center at 0 and radius r in X, , and z(t) = Γ2(u(t)) for . First, for all and ,
Next, we verify the equicontinuity of the set , given ε1 > 0. In view of (114), together with the continuity of {Sα(t)} t>0, there exists an η > 0 such that, for all and t2 ≥ t1 with t2 − t1 < η,
Now an application of Lemma 18 justifies the compactness of Γ2.
Step 5. Show that (39) has at least one asymptotically almost automorphic mild solution.
The proof is similar to the proof in Step 5 of Theorem 24.
Taking A = −ραI with ρ > 0 in (39), Theorem 29 gives the following corollary.
Corollary 30. Let satisfy and with . Moreover the integral exists for all . Then (39) has at least one asymptotically almost automorphic mild solution.
4. Applications
In this section we give an example to illustrate the above results.
Conflicts of Interest
The authors declare that they have no conflicts of interest.
Acknowledgments
This research was supported by the NNSF of China (no. 11561009) and (no. 41665006), the Guangdong Province Natural Science Foundation (no. 2015A030313896), the Characteristic Innovation Project (Natural Science) of Guangdong Province (no. 2016KTSCX094), the Science and Technology Program Project of Guangzhou (no. 201707010230), and the Guangxi Province Natural Science Foundation (no. 2016GXNSFAA380240).