Abstract
In this paper, we delve into the analysis of the existence and stability concerning the -Mittag-Leffler-Ulam-Hyers within a particular class of coupled systems related to boundary value problems. These problems entail implicit nonlinear fractional differential equations and -generalized ϑ-Hilfer fractional derivatives. To achieve our objectives, we employ the Mönch fixed point theorem, complemented by the application of the measure of noncompactness technique and an extension of the well-established Gronwall inequality. Furthermore, we include an illustrative example to showcase the practical utility of our results. The significance of our research lies in examining a comprehensive problem involving coupled systems, which serves as a generalization encompassing all the works mentioned in the introduction. It is viewed as a logical extension and continuation within the framework of this continually evolving theory.
1. Introduction
Fractional calculus, an intriguing approach that extends the concepts of differentiation and integration beyond integer orders, has attracted considerable interest in both theoretical investigations and real-world applications spanning a wide array of research fields. Its adaptability in tackling complex problems has firmly positioned it as an essential instrument in this domain. The past few years have witnessed a notable upswing in research related to fractional calculus, with scholars delving into a multitude of outcomes across different scenarios and formulations of fractional differential equations and inclusions. For a more comprehensive understanding of the practical applications of fractional calculus, readers are encouraged to consult the works by Herrmann (Citation2011), Hilfer (Citation2000), Kilbas et al. (Citation2006) and Samko et al. (Citation1993). Agrawal (Citation2012) introduced certain generalizations of fractional integrals and derivatives, elucidating some of their fundamental properties. In the studies conducted by Benchohra et al. (2023a, Citation2023b), they explored existence, uniqueness, and stability outcomes for various problem classes under different conditions. Their approach involved an extension of the well-established Hilfer fractional derivative, unifying the Riemann-Liouville and Caputo fractional derivatives. Recent literature features numerous papers and books wherein authors delve into the existence, stability, and uniqueness of solutions for a diverse array of systems involving fractional differential equations and inclusions. These investigations encompass the utilization of various fractional derivatives and different types of conditions. Readers seeking further references and specific papers may refer to (Almalahi et al., Citation2021; Bedi et al., Citation2020, Citation2021; Derbazi & Baitiche, Citation2020; Dhaniya et al., Citation2023; Guida et al., Citation2020; Kaushik et al., Citation2023; Lin et al., Citation2021; Redhwan et al., Citation2022; Selvam et al., Citation2020; Wongcharoen et al., Citation2020), and the citations therein.
In a recent publication (Díaz & Teruel, Citation2005), Diaz introduced novel definitions for the special functions -gamma and -beta. To delve deeper into this topic, interested readers can refer to additional sources such as (Chu et al., Citation2020; Mubeen & Habibullah, Citation2012). Furthermore, in another work (Sousa & de Oliveira, Citation2018), Sousa et al. presented the ϑ-Hilfer fractional derivative with respect to another function and elucidated some crucial properties related to this type of fractional operators. For further insights and more results based on this operator, we suggest exploring the papers (Afshari et al., Citation2021; Almalahi & Panchal, Citation2020; Sousa & Capelas de Oliveira, Citation2019a, Citation2019b) and their respective reference lists. Drawing inspiration from the various papers cited earlier, we have introduced a novel extension of the renowned Hilfer fractional derivative (Salim et al., Citation2022). This new extension, referred to as the -generalized ϑ-Hilfer fractional derivative, has allowed us to establish a generalization of Grönwall’s lemma and explore several types of Ulam stability. Furthermore, we have conducted an in-depth investigation of qualitative and quantitative results for diverse classes of fractional differential problems (Krim et al., Citation2023; Salim et al., Citation2021, Citation2022; Salim, Benchohra, et al., Citation2023; Salim, Bouriah, et al., Citation2023), all made possible through the application of this new generalized fractional operator. See (Benchohra et al., Citation2023a, Citation2023b), for more details.
In many situations, solving differential equations with precision proves to be a challenging or even insurmountable task. In such cases, alongside nonlinear analysis and optimization, our focus turns to approximating solutions. It’s crucial to emphasize that we only accept solutions that demonstrate stability. Therefore, a variety of methodologies for stability analysis are employed, including well-known techniques like Lyapunov and exponential stability. The notion of stability in functional equations was initially brought to the forefront by mathematician S.M. Ulam during a 1940 lecture at the University of Wisconsin. Ulam posed a fundamental question (Ulam, Citation1964). The subsequent year, Hyers addressed Ulam’s inquiry for additive functions defined on Banach spaces (Hyers, Citation1941). Rassias, in 1978, generalized Hyers’ findings and demonstrated the existence of unique linear mappings in close proximity to approximately additive mappings (Rassias, Citation1978). Ulam-Hyers stability analysis, in contrast to Lyapunov and exponential stability analysis, shifts its focus to understanding how a function behaves when subjected to perturbations rather than examining the stability of a dynamical system or equilibrium point. A number of researchers, as seen in (Ahmed et al., Citation2021; Benchohra et al., Citation2023a; Khan et al., Citation2017; Luo et al. Citation2020; Shah & Tunç, Citation2017; Wang et al., Citation2019; Zada et al., Citation2020), have explored the Ulam stabilities of fractional differential problems under varying conditions.
In (Ahmad et al., Citation2020), Ahmed et al. the authors examined the subsequent coupled implicit ϑ-Hilfer fractional differential system: where represent the ϑ-Hilfer fractional derivative of order λ and type r with is the ϑ-Riemann-Liouville fractional integral of order And, are continuous and nonlinear functions on a Banach space The linear function verifies
In (Abdo et al., Citation2020), Abdo et al. studied the following system: where is the ϑ-Hilfer fractional derivative of order and type with respect to ϑ and is a given function.
Motivated by the previously mentioned publications and with the intention of building upon prior achievements, we consider: (1) (1) (2) (2) where for and are, respectively, the -generalized ϑ-Hilfer fractional derivative of order and type and -generalized ϑ-fractional integral of order where such that and and are given functions, where is a Banach space.
It is worth mentioning that our work is regarded as a logical extension and continuation on the results presented in the aforementioned works, specifically (Abdo et al., Citation2020; Ahmad et al., Citation2020). For more details on the particular cases of our problem, see (Benchohra et al., Citation2023a, Citation2023b).
The paper is organized as follows: In Section 2, we commence by introducing essential notations and providing an overview of the fundamentals associated with -generalized ϑ-Hilfer, as well as functions such as -Gamma, -Beta, -Mittag-Leffler, and various supporting results. Section 3 presents an existence result for the problem defined in EquationEquations (1)–Equation(2)(2) (2) , employing the Mönch fixed point theorem and the measure of noncompactness technique. Additionally, in Section 4, we give the proof of the stability result for the system denoted by EquationEquations (1)–Equation(2)(2) (2) . Finally, the last section is dedicated to offering a concrete illustrative example that effectively demonstrates the practical utility of our primary findings.
2. Preliminaries
We will commence by presenting the weighted spaces, notations, definitions, and fundamental concepts that will find application in this investigation. For more comprehensive information regarding the norms and definitions used, refer to the references such as (Salim et al., Citation2021, Citation2022), and (Kucche & Mali, Citation2021).
Let and let and
By we denote the Banach space of all continuous functions from into with the norm
Let and be the spaces of n-times absolutely continuous and n-times continuously differentiable functions on respectively.
Consider the weighted Banach space where with the norm and with the norm
Now, let us consider the Banach space with the norm
where
By we denote the space of Bochner–integrable functions with the norm
Definition 2.1
(Díaz and Teruel, Citation2005). The -gamma function is defined by
When then , and some other useful relations are and . Moreover, the -beta function is given as so that and The Mittag-Leffler function can also be refined into the -Mittag-Leffler function defined as follows
Then, we can have
Definition 2.2
(Rashid et al. Citation2020). Let be an increasing function on and be continuous on , and . The generalized -fractional integral operators of a function of order is defined by: with and
Theorem 2.3
(Salim et al., Citation2021, Citation2022). Let and take and . Then
Lemma 2.4
(Salim et al., Citation2021, Citation2022). Let and . Then, the semigroup properties that follow are met:
Lemma 2.5
(Salim et al., Citation2021, Citation2022). Let and . Then, we obtain
Theorem 2.6
(Salim et al., Citation2021, Citation2022). Let and . If then
Definition 2.7
(-generalized ϑ-Hilfer derivative (Salim et al., Citation2021, Citation2022). Let with and two functions where ϑ is increasing and , for all . The -generalized ϑ-Hilfer fractional derivatives of a function of order and type , with is given by:
where
Lemma 2.8
(Salim et al., Citation2021, Citation2022). Let Then for , we have
Theorem 2.9
(Salim et al., Citation2021, Citation2022). If , where and , then where
If m = 1, we have
Lemma 2.10
(Salim et al., Citation2021, Citation2022). Let and , where . Then for we have
Lemma 2.11
(Benchohra et al., Citation2023a). Let and . Then, we have
Theorem 2.12
(Benchohra et al., Citation2023a). Let be two integrable functions and g continuous, with domain Let an increasing function such that and with . Assume that
and are nonnegative;
w is nonnegative and nondecreasing.
If then (3) (3) For all . And if is a nondecreasing function on . Then, we have
Definition 2.13
(Banas & Goebel, Citation1980). let be a Banach space and let be the family of bounded subsets of . The Kuratowski measure of noncompactness is the map defined by where and μ verifies:
is compact ( is relatively compact).
3. Existence of solutions
Firstly, we provide the following theorem in order to convert our system Equation(1)(1) (1) –Equation(2)(2) (2) into a coupled system of fractional integral equations.
Theorem 3.1.
Let , where and let . The function verifies: (4) (4) (5) (5)
If and only if it verifies the following integral equation: (6) (6) where such that and
Proof.
Assume that satisfies the Equationequations Equation(4)(4) (4) Equation-(5). We apply on both sides of Equation(4)(4) (4) to obtain and using Theorem 2.9, we get (7) (7)
Applying on both sides of Equation(7)(7) (7) , using Lemma 2.4, Lemma 2.5 and taking we have (8) (8)
Multiplying both sides of Equation(8)(8) (8) by α2, we get
Using condition Equation(5)(5) (5) , we obtain
Thus, Then, (9) (9)
Substituting Equation(9)(9) (9) into Equation(7)(7) (7) , we obtain Equation(6)(6) (6) .
Now, we show that if verifies EquationEquation (6)(6) (6) , then it verifies Equation(4)(4) (4) -(5). We apply on Equation(6)(6) (6) to get
By Lemma 2.8 and Lemma 2.10, we get Equation(4)(4) (4) . Now we apply the operator to EquationEquation (6)(6) (6) , to obtain
Now, using Lemma 2.4 and 2.5, we get (10) (10)
Using Theorem 2.6 with we obtain (11) (11)
Next, taking in Equation(10)(10) (10) , we have (12) (12)
From Equation(11)(11) (11) and Equation(12)(12) (12) , we obtain Equation(5)(5) (5) . This completes the proof. □
As a consequence of Theorem 3.1, we have the following result.
Lemma 3.2.
Let where and , and let be continuous functions. Then satisfies the coupled system Equation(1)(1) (1) -(2) if and only if is the fixed point of the operator defined by: (13) (13) where and are the operators defined for , as follows: (14) (14) and (15) (15) where for satisfy the following system of functional equations:
We may employ Theorem 2.3 to easily demonstrate that for we have where is the operator defined in Equation(13)(13) (13) .
The hypotheses:
The functions are continuous.
There exist constants such that and and For any and where
For each bounded sets Ω and for each the following inequalities hold: and where
Set the following: such that and
Theorem 3.3.
Suppose that the hypotheses - hold. If (16) (16)
then problem Equation(1)(1) (1) -(2) has at least one solution in
Proof.
The proof will be given in several steps.
Claim 1: We show that the operator defined in Equation(13)(13) (13) , transforms the ball into itself. Let a positive constant such that
For each Equation(14)(14) (14) and Equation(15)(15) (15) imply that we have (17) (17) and (18) (18) By the hypothesis for we have Which implies that
Similarly, one can find that
Therefore
Then
By following the same approach, we can also obtain the following:
Thus, by the hypothesis for we have and which implies and
Lemma 2.5 implies and
Thus, and
Thus, for each we get
Claim 2: The operator is continuous.
Let be a sequence where in For each we have and where for and verifies: and
Since then and as for each and since and are continuous, then we have
Thus, for each we get
Consequently, is continuous.
Claim 3: is bounded and equicontinuous.
Since and is bounded, then is bounded.
Let and let Thus and
Lemma 2.5 implies and
As the right-hand side of the above inequalities tends to zero. This shows the equicontinuity of
Step 4: The implication of Mönch’s fixed point Theorem (Mönch, 1980) holds.
Now let be an equicontinuous subset of such that therefore the function are continuous on By the hypotheses and the properties of the measure μ, for each we have which implies that
From Equation(16)(16) (16) , we get that is , for each Similarly, we have that is Thus, and which means that is relatively compact in In view of the Ascoli-Arzela Theorem, is relatively compact in BR. Applying now Mönch’s fixed point Theorem (Mönch, 1980), we conclude that has a fixed point, which is a solution to the system Equation(1)(1) (1) –Equation(2)(2) (2) .
4. -Mittag-Leffler-Ulam-Hyers stability
Now, we consider the -Mittag-Leffler-Ulam-Hyers stability for system Equation(1)(1) (1) -(2). In (Liu et al., Citation2019), Liu et al. introduced the concept of Ulam-Hyers-Mittag-Leffler which is suitable to describe the characteristic of fractional Ulam stability, by substituting the Mittag-Leffler function of their definitions with the more refined -Mittag-Leffler function, we give the following definitions. For this, we take inspiration from the following papers (Ali et al., Citation2017, Citation2019; Rassias, Citation1978; Rus, Citation2009) and the references therein. Let We consider the following inequalities: (19) (19)
Definition 4.1.
System Equation(1)(1) (1) -(2) is -Mittag-Leffler-Ulam-Hyers stable with respect to if there exists a real number such that for each and for each solution of inequality Equation(19)(19) (19) there exists a solution of Equation(1)(1) (1) -(2) with
Definition 4.2.
System Equation(1)(1) (1) -(2) is generalized -Mittag-Leffler-Ulam-Hyers stable with respect to if there exists with such that for each and for each solution of inequality Equation(19)(19) (19) there exists a solution of Equation(1)(1) (1) -(2) with
Remark 4.3.
It is clear that: Definition 4.1 Definition 4.2
Remark 4.4.
A function is a solution of inequality Equation(19)(19) (19) if and only if there exist such that
and
Theorem 4.5.
Assume that the hypotheses - and the condition Equation(16)(16) (16) hold. Then, system Equation(1)(1) (1) -(2) is -Mittag-Leffler-Ulam-Hyers stable with respect to and consequently generalized -Mittag-Leffler-Ulam-Hyers stable.
Proof.
Let be a solution if inequality Equation(19)(19) (19) , and let us assume that is the unique solution of the system
By Theorem 3.1, we obtain for each and where for satisfy the following system of functional equations:
Since is a solution of the inequality Equation(19)(19) (19) , by Remark 4.4, we have (20) (20)
Clearly, from Equation(20)(20) (20) we can obtain and where for satisfy the following system of functional equations:
Hence, using Lemma 2.11, for each we have and
By the hypothesis for we have which implies that
Similarly, one can find that
Therefore,
Then,
Also,
Thus, using Lemma 2.5, for each we have and
Therefore,
For some constants and we have where
Thus, where and
By applying Theorem 2.12, we obtain
Then, we conclude that for each we have where
Hence, the system Equation(1)(1) (1) -(2) is -Mittag-Leffler-Ulam-Hyers stable with respect to If we set then the problem Equation(1)(1) (1) -(2) is also generalized -Mittag-Leffler-Ulam-Hyers stable. □
5. An example
Let be the Banach space of real sequences converging to zero with
Suppose that
Example 5.1.
Taking and , we obtain (21) (21) (22) (22) where and we have and
Since it is clear to see that the functions and is continuous, then is verified.
Further, for each and we have and thus, the condition is satisfied with and
The hypothesis is easily verified by taking
Also
As all the conditions of Theorem 3.3 are satisfied, then the problem Equation(21)(21) (21) –Equation(22)(22) (22) has at least one solution in and is -Mittag-Leffler-Ulam-Hyers stable with respect to
6. Conclusion
In this research endeavor, our aim is to establish the existence of solutions for coupled systems governed by the -Hilfer fractional equations. These problems encompass nonlinear implicit fractional differential equations, complete with boundary conditions. Our method for demonstrating the existence of solutions relies on the application of Mönch’s fixed point theorem, complemented by the utilization of the measure of noncompactness technique. Furthermore, we explore the -Mittag-Leffler-Ulam-Hyers stability of our problem, facilitated by a generalized Gronwall inequality. To showcase the practical utility of our key findings and to illustrate that the conditions of our theorems can be met, we provide several illustrative examples. Significantly, the fractional operator under investigation serves as an extension, encompassing previously established fractional derivatives like the ϑ-Hilfer fractional derivative already well-documented in the literature. This broader framework enriches the ever-evolving field of fractional calculus, opening up promising avenues for future exploration and advancement in this dynamic and continually evolving domain.
Author’s contributions
The study was carried out in collaboration of all authors. All authors read and approved the final manuscript.
Ethical approval
This article does not contain any studies with human participants or animals performed by any of the authors.
Acknowledgement
J. Alzabut would like to thank Prince Sultan University and OSTIM Technical University for their endless support.
Disclosure statement
No potential conflict of interest was reported by the author(s).
Data availability statement
Data sharing not applicable to this paper as no data sets were generated or analyzed during the current study.
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