Abstract
The paper deals with a Volterra integral equation with delay. In order to apply the w-weak generalized contraction theorem for the study of existence and uniqueness of solutions, we rewrite the equation as a fixed point problem. The assumptions take into account the support of w-distance and the complexity of the delay equation. Gronwall-type theorem and comparison theorem are also discussed using a weak Picard operator technique. In the end, an example is provided to support our results.
Authors
Veronica Ilea
Department of Mathematics, Babes-Bolyai University, Romania
Diana Otrocol
Department of Mathematics, Technical University of Cluj-Napoca, Romania
Tiberiu Popoviciu Institute of Numerical Analysis, Romanian Academy
Keywords
Volterra integral equation with delay; w-distance; weakly Picard operator; abstract Gronwall lemma
References
Cite this paper as:
V. Ilea and D. Otrocol, On a Volterra integral equation with delay, via w-distances,Β Mathematics, 9 (2021), art. id. 2341. https://doi.org/10.3390/math9182341
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[1] Burton, T.A., Volterra Integral and Differential Equations; Academic Press: New York, NY, USA, 1983.
[2] Corduneanu, C., Integral Equations and Stability of Feedback Systems; Academic Press: New York, NY, USA, 1973.
[3] Gripenberg, G., Londen, S.O., Staffans, O. Volterra Integral and Functional Equations; Encyclopedia of Mathematics and its Applications 34; Cambridge University Press: Cambridge, UK, 1990.
[4] Guo, D., Lakshmikantham, V., Liu X., Nonlinear Integral Equations in Abstract Spaces; Kuwer Academic Publishers: Dordrecht, The Netherlands; Boston, MA, USA; London, UK, 1996.
[5] Sidorov, D. Integral Dynamical Models: Singularities, Signals and Control; World Scientific Publishing Company: Singapore, 2014.
[6] Olmstead, W.E., Roberts, C.A., Deng K., Coupled Volterra equations with blow-up solutions. J. Integral Equ. Appl. 1997, 7, 499β516. [CrossRef]
[7] Panin, A.A., On local solvability and blow-up of solutions of an abstract nonlinear Volterra integral equation. Math. Notes 2015, 97, 892β908. [CrossRef]
[8] Sidorov, D.,Β Existence and blow-up of Kantorovich principal continuous solutions of nonlinear integral equations. Diff. Equ. 2014, 50, 1217β1224. [CrossRef]
[9] Ilea, V.A.; Otrocol, D. An application of the Picard operator technique to functional integral equations. J. Nonlinear Convex Anal.
2017, 18, 405β413.
[10] Ilea, V.A.; Otrocol, D. On the Burton method of progressive contractions for Volterra integral equations. Fixed Point Theory 2020,
21, 585β594. [CrossRef]
[11] Serban, M.A., Data dependence for some functional-integral equations. J. Appl. Math. 2008, 1, 219β234.
[12] Dobritoiu, M., An integral equation with modified argument. Studia Univ. Babes-Bolyai Math. 2004, 49, 27β33.
[13] Ilea, V.A., Otrocol, D. Existence and uniqueness of the solution for an integral equation with supremum, via w-distances. Symmetry 2020, 12, 1554 [CrossRef]
[14] Marian, D., Ciplea, S., Lungu, N., Ulam-Hyers stability of Darboux-Ionescu problem. Carpathian J. Math. 2021, 37, 211β216.
[CrossRef]
[15] Aguirre Salazar, L., Reich, S. A remark on weakly contractive mappings. J. Nonlinear Conv. Anal. 2015, 16, 767β773.
[16] Dobritoiu, M., An application of the w-weak generalized contractions theorem. J. Fixed Point Theory Appl. 2019, 21, 93. [CrossRef]
[17] Kada, O., Suzuki, T., Takahashi, W., Nonconvex minimization theorems and fixed point theorems in complete metric spaces. Math. Jpn. 1996, 44, 381β391.
[18]Β Suzuki, T., Takahashi, W.,Β Fixed points theorems and characterizations of metric completeness. Topol. Methods Nonlinear Anal. J. Juliusz Schauder Cent. 1996, 8, 371β382. [CrossRef]
[19] Takahashi, W.,Β Wong, N.C., Yao, J.C., Fixed point theorems for general contractive mappings with w-distances in metric spaces. J. Nonlinear Conv. Anal. 2013, 14, 637β648.
[20] Wongyat, T., Sintunavarat, W., The existence and uniqueness of the solution for nonlinear Fredholm and Volterra integral equations together with nonlinear fraction differential equations via w-distances. Adv. Diff. Equ. 2017, 2017, 211. [CrossRef]
[21] Wongyat, T.,Β Sintunavarat, W., On new existence and uniqueness results concerning solutions to nonlinear Fredholm integral equations via w-distances and weak altering distance functions. J. Fixed Point Theory Appl. 2019 21, 7. [CrossRef]
[22] Rus, I.A., Generalized Contractions and Applications; Cluj University Press: Cluj-Napoca, Romania, 2001.
[23] Rus, I.A., Picard operators and applications. Sci. Math. Jpn. 2003, 58, 191β219.
[24] Rus, I.A., Fixed points, upper and lower fixed points: Abstract Gronwall lemmas. Carpathian J. Math. 2004, 20, 125β134.
[25] Marian, D.,Β Ciplea, S., Lungu, N., On a Functional Integral Equation. Symmetry 2021, 13, 13β21. [CrossRef]
[26] Marian, D., Ciplea, S.A., Lungu, N., Optimal and Nonoptimal Gronwall Lemmas. Symmetry 2020, 12, 17β28. [CrossRef]
[27] Reich, S., Zaslavski, A.J., Almost all nonexpansive mappings are contractive. C. R. Math. Rep. Acad. Sci. Can. 2000, 22, 118β124.
[28] Reich, S., Zaslavski, A.J., The set of noncontractive mappings is sigma-porous in the space of all nonexpansive mappings. C. R. Acad. Sci. Paris Ser. I Math. 2001, 333, 539β544. [CrossRef].
On a Volterra Integral Equation with Delay, via -Distances
Abstract.
The paper deals with a Volterra integral equation with delay. In order to apply w-weak generalized contraction theorem for the study of existence and uniqueness of solutions, we rewrite the equation as a fixed point problem. The assumptions take into account the support of w-distance and the complexity of the delay equation. Gronwall-type theorem and comparison theorem are also discussed using weakly Picard operator technique. In the end an example is provided to support our results.
Keywords: Volterra integral equation with delay; -distance; weakly Picard operator; abstract Gronwall lemma
Mathematics Subject Classification: 47H10, 34K05.
1. Introduction
The study of Volterra integral equations is an interesting area of research because of their applications in physics, biology, control theory and in other fields of natural sciences. In the last decades, they have been extensively and intensively studied. Numerous results on existence and uniqueness, monotonicity, stability, as well as numerical solutions have been obtained. To name a few, we refer the reader to [2, 3, 6, 7, 23] and the references therein. On the other hand, the results regarding the blow-up of the solutions is among the most attractive topics in qualitative theory of Volterra integral equations due to their applications, especially in biology, economics and physics (see, e.g. [15, 16, 22, 23]). The theory of Volterra integral equations with delay have been studied by many authors (see, e.g. [2, 3, 9, 10, 25]). The most common approach in studying the existence of solutions for a Volterra integral equation with delay, is to rewrite (1.1) as a fixed point problem. Then, one can apply different fixed point principles to the above equation and establish the existence of solutions (see, e.g. [4, 9, 10, 11, 12]).
Very recently, many results related to mappings satisfying various contractive conditions and underlying distance spaces were obtained in [1, 5, 8, 9, 24, 26, 27, 28] and the references contained therein.
In this paper, we consider a Volterra integral equation with delay of the form
(1.1) |
where and , with for are given.
In this paper, the motivation of the work has been started from the results of T. Wongyat and W. Sintunavarat [27]. Using -weak generalized contractions theorem, we give some results in the case of Volterra integral equations with delay. In the end a Gronwall-type theorem and a comparison theorem are also obtained.
2. Preliminaries
For the convenience of the reader we recall here some definitions and preliminary results, for details, see [8, 27].
Let be a metric space. First we present the notion of -distance on and -distance on
Definition 2.1.
([8]) Let be a metric space. A function is called -distance on if the following conditions are satisfied:
-
1)
-
2)
is lower semicontinuous,
-
3)
for each there exists such that and imply .
It is well known that each metric on a nonempty set is a -distance on .
Definition 2.2.
([27]) A function is called -distance on if it is a -distance on with for all
Next, we give the definitions of an altering distance function, ceiling distance of and -generalized weak contraction mapping used in the paper [27].
Definition 2.3.
([27]) A function is called an altering distance function, if the following conditions are satisfied:
-
1)
is a continuous and nondecreasing function;
-
2)
if and only if .
Definition 2.4.
([27]) A -distance on a metric space is called a ceiling distance of if and only if
Definition 2.5.
([27]) Let be a -distance on a metric space An operator is called a -generalized weak contraction mapping if
(2.1) |
where
(2.2) |
is an altering distance function, and is a continuous function with if and only if . If then the mapping is called generalized weak contraction mapping.
Let be a complete metric space. We present below some results of fixed point of the operatorial equation via -distances.
Theorem 2.1.
([27]) Let be a -distance on and a ceiling distance of . Suppose that is a continuous -generalized weak contraction. Then, the operator has a unique fixed point in . Moreover, for each , the successive approximation sequence defined by for all converges to the unique fixed point of the operator .
Theorem 2.2.
([27]) Let be a continuous -distance on and a ceiling distance of . Suppose that is a -generalized weak contraction. Then, the operator has a unique fixed point in . Moreover, for each , the successive approximation sequence defined by for all converges to the unique fixed point of the operator .
Theorem 2.3.
([27]) Let be a continuous -distance on and a ceiling distance of . Suppose that is a continuous operator such that, for all
(2.3) |
where is an altering distance function, and is a continuous function with if and only if . Then, the operator has a unique fixed point in . Moreover, for each , the successive approximation sequence defined by for all converges to the unique fixed point of the operator .
Let be a metric space. Let us consider a given operator . In this setting, is called weakly Picard operator (briefly WPO) if, for all , the sequence of Picard iterations, , converges in and its limit (which generally depend on ) is a fixed point of . We denote by the fixed point set of , i.e. . If an operator is WPO with , then, by definition, is called a Picard operator (briefly PO).
If is a WPO, we can define the operator , by
If is a nonempty set, then the triple is an ordered metric space, where is a partial order relation on
In the setting of ordered metric spaces, we have some properties related to WPOs and POs.
Theorem 2.4.
(Rus [19, 20]) (Characterization theorem) Let be a metric space and an operator. Then is WPO if and only if there exists a partition of , , such that
-
(i)
, for all
-
(ii)
is PO, for all
Theorem 2.5.
([20]) (Abstract Gronwall Lemma) Let be an ordered metric space and be an increasing WPO. Then we have the following:
-
j)
for
-
(jj)
for
Theorem 2.6.
([20]) (Abstract Comparison Lemma) Let be an ordered metric space and be such that:
-
h)
-
hh)
the operators are WPO;
-
hhh)
the operator is increasing.
Then, for .
3. Main result
Throughout this paper it will be assumed that:
-
(C1)
-
(C2)
-
(C3)
With respect to the equation (1.1) we consider the equation (in )
(3.1) |
Let be the solution set of the equation (3.1).
Now we consider the operator defined by
(3.2) |
for all and
Let and . Then
is a partition of .
Lemma 3.1.
We suppose that the conditions (C1), (C2) and (C3) are satisfied. Then it is obvious that and .
The main purpose of this section is to prove a new result of the existence, uniqueness and approximation of the solution for nonlinear Volterra integral equation with delay by using Theorem 2.3.
Theorem 3.2.
We consider the integral equation (1.1) where and with are given functions. We suppose the following:
-
(i)
the mapping defined by (3.2) is continuous;
-
(ii)
the altering distance function satisfies for all and the continuous function satisfies if and only if
-
(iii)
for all
Then the integral equation (1.1) has a unique solution;
Moreover, for each the sequence of Picard iterations , defined by for all , converges to the unique solution of the integral equation (1.1).
Proof.
Let and we consider the metric given by , for all It is clear that is a complete metric space. Now, we define the function by the relation:
(3.3) |
and it is easy to see that is a -distance on and a ceiling distance of .
We intend to show that the operator satisfies the condition (2.3). We have
Since the operator defined in (3.2) is a PO, we can establish the following Gronwall-type lemma for the equation (1.1).
Theorem 3.3.
We consider the integral equation (1.1) where and the functions with, are given. We assume that the conditions (i)-(iii) from Theorem 3.2 hold. Furthermore, we suppose that
-
(iv)
is an increasing function with respect to the last argument, for all
Let be the unique solution of the system. Then, the following implications hold:
-
1)
for all with
for all , we have
-
2)
for all with
for all , we have
Proof.
From (iv), we have that the operator defined in (3.2) is increasing with respect to the partial order.
In a similar way, a comparison theorem for equation (1.1) can be obtained, using the abstract comparison theorem given in Section 2 of this paper.
Theorem 3.4.
We consider the integral equation (1.1) where and the functions and are given. We assume that the conditions (i)-(iii) from Theorem 3.2 hold. Furthermore, we suppose that
-
(i)
;
-
(ii)
are increasing;
-
(iii)
Let be a solution of the equation
If , then
Proof.
The proof follows from the Theorem 2.6. β
Next we study the existence and uniqueness of solutions of the following integral equation using Theorem 3.2.
Example
We consider the integral equation
(3.4) |
where , and the following condition
Now let with the metric given by
for all .
It is clear that is a complete metric space. For all the function
is a -distance on and a ceiling distance of . Next, we define the operator , defined by
The functions , defined by and verify that for all and for all
Thus
4. Conclusions
In this paper, we have investigated a Volterra integral equation with delay. Using w-weak generalized contractions theorem and the assumptions (C1)-(C3), we obtain an existence and uniqueness result, a Gronwall-type theorem and a comparison theorem for equation (1). We employed the Picard operator method, fixed point theorems and abstract Gronwall lemma, to obtain our results. In the end, an example is presented. The theorems obtained in this paper are also applicable to systems of integral equations with delay. As for a future study, several numerical examples can be taken and a comparative study with previously published results or theory can be done.
References
- [1] Aguirre Salazar, L.; Reich, S. A remark on weakly contractive mappings. J. Nonlinear Conv. Anal. 2015, 16, 767β773.
- [2] Burton, T.A. Volterra Integral and Differential Equations, Academic Press, New York, 1983.
- [3] Corduneanu, C. Integral Equations and Stability of Feedback Systems, Academic Press, New York, 1973.
- [4] DobriΕ£oiu, M. An integral equation with modified argument. Studia Univ. βBabes-Bolyaiβ, Mathematica 2004, 49, No. 3, 27β33
- [5] DobriΕ£oiu, M. An application of the -weak generalized contractions theorem. J. Fixed Point Theory Appl. 2019, 21:93.
- [6] Gripenberg, G., Londen, S.O., Staffans, O. Volterra Integral and Functional Equations, Encyclopedia of Mathematics and its Applications 34, Cambridge University Press 1990.
- [7] Guo, D.; Lakshmikantham, V.; Liu X. Nonlinear Integral Equations in Abstract Spaces Kuwer Academic Publishers, Dordrecht, Boston, London, 1996.
- [8] Kada, O.; Suzuki, T.; Takahashi, W. Nonconvex minimization theorems and fixed point theorems in complete metric spaces. Math. Jpn. 1996, 44, 381β391.
- [9] Ilea, V.A.; Otrocol, D. An application of the Picard operator technique to functional integral equations. J. Nonlinear Convex Anal. 2017, 18, No. 3, 405β413.
- [10] Ilea, V.A.; Otrocol, D. On the Burton method of progressive contractions for Volterra integral equations. Fixed Point Theory, 2020, 21, No. 2, 585β594.
- [11] Ilea, V.A.; Otrocol, D. Existence and uniqueness of the solution for an integral equation with supremum, via w-distances. Symmetry, 2020, 12, 1554
- [12] Marian, D.; Ciplea, S.; Lungu, N. Ulam-Hyers stability of Darboux-Ionescu problem. Carpathian J. Math. 2021, 37, No. 2, 211β216.
- [13] Marian, D.; Ciplea, S.; Lungu, N. On a Functional Integral Equation. Symmetry 2021, 13(8), 13β21.
- [14] Marian, D.; Ciplea, S. A.; Lungu, N. Optimal and Nonoptimal Gronwall Lemmas. Symmetry 2020, 12(10), 17β28.
- [15] Olmstead, W.E.; Roberts, C.A.; Deng K. Coupled Volterra equations with blow-up solutions, J. Integral Equations Appl. 1997, 7, 499β516.
- [16] Panin, A.A.; On local solvability and blow-up of solutions of an abstract nonlinear Volterra integral equation. Math. Notes. 2015, 97, 892β908.
- [17] Reich, S.; Zaslavski, A.J. Almost all nonexpansive mappings are contractive. C. R. Math. Rep. Acad. Sci. Canada 2000, 22 , 118β124.
- [18] Reich, S.; Zaslavski, A.J. The set of noncontractive mappings is sigma-porous in the space of all nonexpansive mappings. C. R. Acad. Sci. Paris Ser. I Math. 2001, 333, 539β544.
- [19] Rus, I.A. Generalized contractions and applications. Cluj University Press, 2001.
- [20] Rus, I.A. Picard operators and applications. Scientiae Mathematicae Japonicae 2003, 58, No. 1, 191β219.
- [21] Rus, I.A. Fixed points, upper and lower fixed points: abstract Gronwall lemmas. Carpathian J Math., 2004, 20(1), 125β134.
- [22] Sidorov, D. Existence and blow-up of Kantorovich principal continuous solutions of nonlinear integral equations. Diff. Equat. 2014, 50, 1217β1224.
- [23] Sidorov, D.; Integral Dynamical Models: Singularities, Signals and Control. World Scientific Publishing Company, 2014.
- [24] Suzuki, T.; Takahashi, W. Fixed points theorems and characterizations of metric completeness. Topol. Methods Nonlinear Anal. J. Juliusz Schauder Cent. 1996, 8, 371β382.
- [25] Εerban, M.A. Data dependence for some functional-integral equations. J. Applied Math. 2008, 1, No. 1, 219β234.
- [26] Takahashi, W.; Wong, N.C.; Yao, J.C. Fixed point theorems for general contractive mappings with -distances in metric spaces. J. Nonlinear Conv. Anal. 2013, 14, 637β648.
- [27] Wongyat, T.; Sintunavarat, W. The existence and uniqueness of the solution for nonlinear Fredholm and Volterra integral equations together with nonlinear fraction differential equations via -distances. Adv. Diff. Equ. 2017, 2017:211.
- [28] Wongyat, T.; Sintunavarat, W. On new existence and uniqueness results concerning solutions to nonlinear Fredholm integral equations via w-distances and weak altering distance functions. J. Fixed Point Theory Appl. 2019 21:7.