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ABSTRACT
In this paper, we study the n-species impulsive Gilpin–Ayala competition model with discrete and distributed time delays. The existence of positive periodic solution is proved by employing the fixed point theorem on cones. By constructing appropriate Lyapunov functional, we also obtain the global exponential stability of the positive periodic solution of this system. As an application, an interesting example is provided to illustrate the validity of our main results.
1. Introduction
In this paper, we mainly study the n-species impulsive Gilpin–Ayala competition model with discrete and distributed time delays as follows:
(1)
(1) where the explanation of the variables is listed in the following table
Table
By employing the fixed point theorem on cones and constructing appropriate Lyapunov functionals, we have researched the existence and global exponential stability of positive periodic solutions for (Equation1(1)
(1) ).
It is important and essential to investigate the model (Equation1(1)
(1) ) attributing to its wide applications. On the one hand, system (Equation1
(1)
(1) ) contain many mathematical population models. Some specific and important models of system (Equation1
(1)
(1) ) are enumerated as follows. For example, when
system (Equation1
(1)
(1) ) changes into the Lotka–Volterra competition population model of the form
(2)
(2) When
system (Equation1
(1)
(1) ) changes into the Gilpin–Ayala competition model (Equation3
(3)
(3) ) of the form
(3)
(3) where
In [Citation7], Gilpin and Ayala proposed a more realistic and complicated competition model as follows:
(4)
(4) where
is the ith-species population density of at time t,
is the ith-species intrinsic exponential growth rate,
is the ith-species environment carrying capacity in the absence of competition,
provides a nonlinear measure of intraspecific interference, and
is the interspecific competition rate between the ith-species and the jth-species at time t. Compared with system (Equation4
(4)
(4) ), the model (Equation3
(3)
(3) ) is a more complicated and generalized model containing the model (Equation4
(4)
(4) ).
On the other hand, the model (Equation1(1)
(1) ) is more advantageous compared with the
Lotka–Volterra models. In fact, the rate of change in the size of each species is a nonlinear function of the sizes of the interacting species in the Gilpin–Ayala models. However, the rate of change in the size of each species is a linear function of the sizes of the interacting species the Lotka–Volterra models. It is more precise to describe some ecosystems by the Gilpin–Ayala models than the Lotka–Volterra models. Therefore, as soon as it was put forward, the Gilpin–Ayala models have been widely focused and deeply studied by many scholars. There have been a number of papers dealing with the dynamics of the Gilpin–Ayala models (see [Citation1–6, Citation10–22, Citation24]).
In addition, the changing environment of ecosystem often presents a certain periodicity, for example, seasonal effects of weather, food supplies, mating habits, and so on. So it is more important and necessary to consider the effects of a periodically varying environment than a stable environment. The number of species in ecosystems sometimes changes suddenly because of the effects of natural disasters and human kill and so on. At the same time, the time delay effect is inevitable in ecosystem. To the best of our knowledge, few authors have considered the global exponential stability of positive periodic solutions for model (Equation1(1)
(1) ). Therefore, it is necessary to study the existence and global exponential stability of positive periodic solutions for (Equation1
(1)
(1) ).
The rest of this paper is organized as follows. In Section 2, we shall give some notations and lemmas. In Section 3, we shall prove the existence of positive periodic solutions. In Section 4, we also obtain the global exponential stability of the positive periodic solution of this system by constructing appropriate Lyapunov functionals and inequality techniques. Finally, an example is given to illustrate the effectiveness of our results in Section 5.
2. Preliminaries
Throughout this paper, we always assume that the assumptions hold as follows:
and
are all ω-periodic with respect to the time variable t.
satisfy
.
and
are the constants. Where
is a constant.
There exists a positive integer p such that
,
Without loss of generality, we also assume that
are the constants satisfying
.
Consider the following system
(5)
(5)
Lemma 2.1
For systems (Equation1(1)
(1) ) and (Equation5
(5)
(5) ), the following results hold:
If
is a solution of (Equation5
(5)
(5) ), then
is a solution of (Equation1
(1)
(1) ).
If
is a solution of (Equation1
(1)
(1) ), then
is a solution of (Equation5
(5)
(5) ).
Proof.
Suppose that
is a solution of (Equation5
(5)
(5) ). Let
, then for any
by substituting
into system (Equation5
(5)
(5) ), we can easily verify that the first equation of (Equation1
(1)
(1) ) holds. For
we obtain
So, the second equation of (Equation1
(1)
(1) ) also holds. Thus
is a solution of (Equation1
(1)
(1) ).
We first show that
are continuous. Indeed,
are continuous on each interval
It is necessary to check the continuity of
at the impulse points
Since
,
we have
Thus
is continuous on
. It is easy to check that
satisfies Equation (Equation5
(5)
(5) ). Therefore, it is a solution of (Equation5
(5)
(5) ). This completes the proof of Lemma 2.1.
It follows from Lemma 2.1 that if system (Equation5(5)
(5) ) exists a globally exponentially stable positive periodic solution
then
is the globally exponentially stable positive periodic solution of system (Equation1
(1)
(1) ). So it is necessary to discuss the existence of globally exponentially stable positive periodic solution for system (Equation5
(5)
(5) ).
For convenience, we introduce some notations
where
and
is a continuous ω-periodic function on
Making the change of variable then we can transform system (Equation5
(5)
(5) ) into
(6)
(6) The existence of globally exponentially stable positive periodic solution for system (Equation6
(6)
(6) ) is equivalent to the existence of globally exponentially stable positive periodic solution of the corresponding integral system. So the following lemmas are important in our discussion.
Lemma 2.2
Let
and
the unique solution of the initial value problem
is given by
Lemma 2.3
If –
hold, then
is an ω-periodic solution of (Equation6
(6)
(6) ) is equivalent to
is an ω-periodic solution of the following integral system
(7)
(7) where
(8)
(8)
(9)
(9)
Proof.
If is an ω-periodic solution of (Equation6
(6)
(6) ),
by applying Lemma 2.2 and (Equation6
(6)
(6) ), for
we have
Let
in the above equality and notice that
we have
which imply that
where
and
are defined by Equations (Equation8
(8)
(8) ) and (Equation9
(9)
(9) ). Thus, we conclude that
satisfies Equation (Equation6
(6)
(6) ), and vice versa. The proof of Lemma 2.3 is complete.
Lemma 2.4
If the condition –
hold, then
and
defined by Equations (Equation8
(8)
(8) ) and (Equation9
(9)
(9) ) satisfies the following:
where
.
.
Proof.
According to we know
and
that is,
is monotone decreasing with respect to s. Thus, for
we have
Thus, the assertion
holds. Now we show that the assertion
also holds. In fact, by the integration by substitution, we have
According to Equation (Equation9
(9)
(9) ) and
–
, we obtain
Thus Equation (Equation3
(3)
(3) ) also holds. This completes the proof of Lemma 2.4.
Lemma 2.5
When and
then
When
and
then
.
Proof.
Let when
and
then
that is,
is monotone increasing on
Thus, when
we have
and
namely,
when
we have
and
namely,
. The proof is complete.
Let X be a real Banach space, and K be a closed non-empty subset of X. Then K is a cone provided
for all
and all
imply
here θ is the zero element of X.
The following lemma is useful for the proof of existence of positive periodic solution for system (Equation1(1)
(1) ).
Lemma 2.6
[Citation9]
Let K be a cone in the Banach space X, and be two bounded open balls of X centred at the origin with
and
Suppose that
is a completely continuous operator such that either
and
or
and
3. Existence of positive periodic solutions
In this section, we shall apply Lemma 2.6 to prove the existence of positive ω-periodic solutions for system (Equation1(1)
(1) ). To do so, define
equipped with the norm defined by
where
,
Then X is a Banach space. In view of Lemma 2.4, we define the cone K in X as
Let the map Φ be defined by
(10)
(10) where
and
defined by Equations (Equation8
(8)
(8) ) and (Equation9
(9)
(9) ).
Lemma 3.1
Assume that –
hold, then
defined by Equation (Equation10
(10)
(10) ) is well defined, namely,
Proof.
For any it is clear that
In view of Lemma 2.4 and Equation (Equation10
(10)
(10) ), we obtain
that is,
So
For any
we have
and
So
This completes the proof of Lemma 3.1.
Lemma 3.2
Assume that –
hold, then
defined by Equation (Equation10
(10)
(10) ) is completely continuous.
Proof.
It is easy to see that Φ is continuous and bounded. Now we show that Φ maps bounded sets into relatively compact sets. Let be an arbitrary open bounded set in K, then there exists a number R>0 such that
for any
. We prove that
is compact. In fact, for any
and
, by
–
, we have
and
where
. Hence,
It follows from Lemma 2.4 in [Citation23] that
is relatively compact in X. Therefore,
defined by Equation (Equation10
(10)
(10) ) is completely continuous.
Theorem 3.1
Assume that –
hold. Assume further that
Proof.
Define the operator as Equation (Equation10
(10)
(10) ). According to Lemmas 3.1–3.2, we know that
is completely continuous. According to
, we take
Obviously,
Define
. By Lemma 2.3, it is easy to see that if there exists
such that
then
is one positive ω-periodic solution of system (Equation6
(6)
(6) ). Now, we shall prove that condition
of Lemma 2.6 holds. In fact, For all
namely,
from
–
and Lemma 2.4–2.5 and noticing that
and
we have
which indicates that
(11)
(11) On the other hand, for all
namely,
according to
–
and Lemma 2.4–2.5 and noticing that
and
we obtain
which implies that
(12)
(12) From Equations (Equation11
(11)
(11) )–(Equation12
(12)
(12) ),we know that condition
of Lemma 2.5 holds. By Lemma 2.6, we see that Φ has at least one non-zero fixed point
Therefore, system (Equation6
(6)
(6) ) has at least one positive ω-periodic solution
. Thus,
is a positive ω-periodic solution of system (Equation5
(5)
(5) ). From Lemma 2.1, we know that
is a positive ω-periodic solution of system (Equation1
(1)
(1) ). This completes the proof of Theorem 3.1.
4. Global exponential stability
The aim of this section is to derive the sufficient condition of a unique globally exponentially stable positive periodic solution of (Equation1(1)
(1) ).
According to Lemma 2.1, we know that the global exponential stability of positive periodic solution for system (Equation1(1)
(1) ) and system (Equation5
(5)
(5) ) is equivalent. So we are mainly prepared to investigate the global exponential stability of positive periodic solution for system (Equation5
(5)
(5) ). Under the assumption of Theorem 3.1, we find that system (Equation5
(5)
(5) ) has at least one positive ω-periodic solution
and there exist positive constants
such that
where
Now let ρ be a positive constant satisfying
. We assume further that
satisfy
.
where
,
Making the change of variable
then system (Equation5
(5)
(5) ) is transformed into
(13)
(13) Obviously,
is the positive ω-periodic solution of system (Equation13
(13)
(13) ), where
From Theorem 3.1, we know that
Therefore,
(14)
(14)
Theorem 4.1
If –
hold, then system (Equation1
(1)
(1) ) exists a unique positive periodic solution which is globally exponentially stable.
Proof.
According to conditions –
it follows from Theorem 3.1 that system (Equation13
(13)
(13) ) has a positive periodic solution
Let
be any positive solution of system (Equation13
(13)
(13) ). Now we construct a Lyapunov functional
where
(15)
(15) and
(16)
(16) From the definition of
we easily see that
and
By direct computation, we find that
(17)
(17) By the condition
we obtain
(18)
(18) and
(19)
(19) By
we have
Observe that
is an increasing function for
and x>0. Therefore, according to Equations (Equation13
(13)
(13) )–(Equation19
(19)
(19) ), we derive
(20)
(20) where
In addition, from the condition
there exists a positive constant κ such that
(21)
(21)
Equations (Equation20
(20)
(20) ) and (Equation21
(21)
(21) ) give
(22)
(22) Integrating both sides of Equation (Equation22
(22)
(22) ) with respect to t, we have
(23)
(23)
Equation (Equation23
(23)
(23) ) leads to
(24)
(24) which implies that
(25)
(25)
Equation (Equation14
(14)
(14) ) indicates that
is uniformly bounded from below and above, and so
is bounded. From
we get
(26)
(26)
Equations (Equation26
(26)
(26) ) and (Equation14
(14)
(14) ) show that
are uniformly bounded. This fact together with (Equation13
(13)
(13) ) lead to
are uniformly bounded on
Therefore
is uniformly continuous on
From Equation (Equation24
(24)
(24) ) we know that
is integrable on
By Barbalat's Lemma [Citation8, Lemmas 1.2.2 and 1.2.3], we can conclude that
(27)
(27) Thus, we have proved that the positive ω-periodic solution
of system (Equation13
(13)
(13) ) is globally attractive.
Next, we shall prove that the positive ω-periodic solution of system (Equation13
(13)
(13) ) is globally exponentially stable. In fact, in the light of Equations (Equation14
(14)
(14) ) and (Equation27
(27)
(27) ), we know that for any
(ϵ enough small), there exists T>0 such that for t>T
(28)
(28) By Equation (Equation28
(28)
(28) ) and the mean value theorem of calculous, we have
(29)
(29) where
lies between
and
. According to
, there exists a constant
such that
(30)
(30) Construct Lyapunov functional
Applying Equations (Equation20
(20)
(20) ) and (Equation30
(30)
(30) ), we have
(31)
(31)
Equation (Equation31
(31)
(31) ) means that
(32)
(32) Similar to Equations (Equation28
(28)
(28) )–(Equation29
(29)
(29) ), we also have
(33)
(33)
Equations (Equation32
(32)
(32) ) and (Equation33
(33)
(33) ) lead to
Letting
in the above inequality, we have
(34)
(34) where
. Equation (Equation34
(34)
(34) ) indicates that the unique positive ω-periodic solution
of system (Equation13
(13)
(13) ) is globally exponentially stable.
Now let us to show that the unique positive ω-periodic solution of system (Equation1
(1)
(1) ) is globally exponentially stable.
Indeed, by the mean value theorem of calculous and Equation (Equation28(28)
(28) ), we have
(35)
(35) where
Letting
in Equation (Equation35
(35)
(35) ) and employing (Equation34
(34)
(34) ), we obtain
(36)
(36) where
. In view of Lemma 2.1, we find from Equation (Equation36
(36)
(36) ) that
(37)
(37) where
It is worth noticing that
So
. Therefore,
is a constant. Thus, we have proved that the unique positive ω-periodic solution
of system (Equation1
(1)
(1) ) is globally exponentially stable. The proof of Theorem 4.1 is complete.
5. Illustrative example
Consider the following single species Gilpin–Ayala competition model with time delay
(38)
(38) where
and
Obviously,
are all positive continuous
-periodic functions. By the simple computation, we have
and
Thus, the assumptions
–
are satisfied. So we conclude from Theorem 3.1 that system (Equation38
(38)
(38) ) has at least one positive
periodic solution
satisfying
.
In addition, clearly
Take
, we have
Thus we verify that
–
hold. Therefore, According to Theorem 4.1, we assert that the unique positive
-periodic solution
of system (Equation38
(38)
(38) ) is globally exponentially stable.
Acknowledgements
The author thanks the referees for a number of suggestions which have improved many aspects of this article.
Disclosure statement
No potential conflict of interest was reported by the author.
Additional information
Funding
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