Abstract
In this paper, by studying the solutions of the abstract operator equation \(A(x,x)+B(x,x)+e=x\) on ordered Banach spaces, where A, B are two mixed monotone operators and \(e\in P\) with \(\theta \leq e\leq h\), we prove a class of boundary value problems on elastic beam equation to have a unique solution. Furthermore, we also apply our abstract result to establish the existence and uniqueness theorem of nontrivial solutions for nonlinear fractional boundary value problems. The iterative sequences to approximate unique solutions for the above two classes of problems are also obtained.
Similar content being viewed by others
1 Introduction
Our work is motivated by recent results obtained in [1]. In [1], Cabrera, López, and Sadarangani studied the existence and uniqueness of positive solutions for the following boundary value problem by using a mixed monotone operator method:
Problem (1.1) describes an elastic beam of length 1 depending on a nonlinear foundation provided with the function f. The first boundary condition \(u(0)=u'(0)=0\) implies that the left end of the beam is fixed. The boundary condition \(u''(1)=0\), \(u'''(1)=g(u(1))\) implies that the right end of the beam is fastened with a bearing device, given by the function g. In particularly, if \(g\equiv 0\), problem (1.1) is called the cantilever beam. It models the deflection of the elastic beam fixed at the left end and free at the right end [2,3,4].
The assumptions imposed on f and g are the following:
-
(H1)
\(f:[0,1]\times [0,+\infty )\times [0,+\infty )\to [0,+\infty )\), \(g:[0,+\infty )\to (-\infty ,0]\) are continuous functions. Moreover, g is decreasing;
-
(H2)
\(f(t,x,y)\) is increasing in x and decreasing in y, for fixed \(t\in [0,1]\);
-
(H3)
\(g(\lambda x)\leq \lambda g(x)\) for any \(\lambda \in (0,1)\) and \(x\in [0,+\infty )\);
-
(H4)
there exists a constant \(\gamma \in (0,1)\) such that
$$ f\bigl(t,\lambda x,\lambda ^{-1}y\bigr)\geq \lambda ^{\gamma }f(t,x,y), $$for every \(\lambda \in (0,1)\), \(t\in [0,1]\) and \(x,y\in [0,+\infty )\);
-
(H5)
\(g(1)<0\) and there exists a constant \(\xi >0\) such that
$$ -g(x)\leq \xi \leq \frac{2}{3} \int _{0}^{1} s^{2}f(s,0,y)\,ds, $$for every \(x,y\in [0,+\infty )\);
-
(H6)
\(H:C[0,1]\to C[0,1]\) and satisfies the following conditions:
-
(a)
\(Hu\geq 0\) for any \(u\in P\);
-
(b)
for \(u,v\in P\), \(u\leq v\Rightarrow Hu\leq Hv\);
-
(c)
for \(\lambda \in (0,1)\) and \(u\in P\), \(H(\lambda u)\geq \lambda Hu\),
where \(P=\{x\in C[0,1]: x(t)\geq 0, t\in [0,1]\}\).
-
(a)
In recent years, much attention has been paid to elastic beam equations. Various tools ad methods have been applied to study the existence, uniqueness and multiplicity of solutions for problem (1.1), for example topological degree theory [5,6,7,8], the monotone iteration method [9,10,11,12,13], partial order theory [14, 15], and critical point theory [16, 17]. We would like to mention some results of [5, 6, 9, 14], which motivated us to consider problem (1.1). In [9], Alves, Ma and Pelicer studied the following boundary value problem:
where the conditions imposed on f and g are local. The authors established the existence of monotone solutions to problem (1.2). Furthermore, Zhai and Anderson [14] considered the uniqueness of positive solutions for (1.2) when \(f(t,u,u')\) is replaced by \(f(t,u)\), and the iterative sequences of approximating the unique solution were also constructed. In [5], Wang et al. were concerned with the following boundary value problem with a parameter:
where \(\lambda \geq 0\) is a parameter. The authors proved how the parameter λ affects the number of monotone solutions of (1.3). Very recently, Cianciaruso, Infante and Pietramala [6] transformed problem (1.2) into the following Hammerstein integral equation with perturbation:
where γ and \(k(t,s)\) are defined on Sect. 4. We should point out that Hammerstein integral equations can be ascribed to general nonlinear operator equations discussed in this paper [18].
Since Guo and Lakshmikantham [19] introduced mixed monotone operators, many authors have investigated various types of nonlinear mixed monotone operators in Banach spaces and many interesting theorems have been established. In [20], Bhaskar and Lakshmikantham were concerned with some coupled fixed point theorems for mixed monotone operators in partially ordered metric spaces. Moreover, Harjani, López and Sadarangani [21] generalized the main results of [20] using the altering distance functions. We note that Li and Zhao [22] considered a class of τ–φ-mixed monotone operators. On the other hand, mixed monotone operators with perturbation have been extensively studied. In [23], Liu et al. considered the existence and uniqueness of positive solutions to the following operator equation on ordered Banach spaces:
where A and B are two mixed monotone operators. The authors also gave an application to nonlinear fractional differential equation with two-point boundary conditions. Very recently, Wardowski [24] introduced the definition of \((e,u)\)-concave-convex operator, and proved a fixed point theorem of such operator by analyzing some of its properties. By comparing with main result obtained in [25], we find that the above new operator is the same as \(\varphi -(h,e)\)-concave operator defined in Zhai and Wang [25].
In this paper, we firstly consider the existence and uniqueness of solution to the following operator equation on ordered Banach spaces E:
where A and B are two mixed monotone operators, and \(e\in P\) with P a cone in E.
Secondly, based on main results of [1], we will apply the abstract result for (1.1) to improve and generalize conditions (H1)–(H6). More specifically, we will study the existence and uniqueness of solutions for the following boundary value problem:
where \(b>0\) is a constant, \(f:[0,1]\times (-\infty ,+\infty )\times (- \infty ,+\infty )\longrightarrow (-\infty ,+\infty )\), \(g:(-\infty , + \infty )\longrightarrow (-\infty ,+\infty )\) are continuous functions and H is an operator.
The rest of the paper consists of the following sections. In Sect. 2, we present some preliminaries and lemmas to be used to prove our main result. In Sect. 3, we establish the existence and uniqueness theorems of solution for (1.1). In Sect. 4, to demonstrate the applicability of our abstract theorem, we give an application to nonlinear fourth-order two-point boundary value problems and give an example to explain our theoretical result. In Sect. 5, we use our abstract result to prove fractional boundary value problem to have a unique solution.
2 Preliminaries and lemmas
In this section, we give some definitions and lemmas to be used in the proof of our main result [19, 26, 27].
Throughout this paper, E is a real Banach space with norm \(\|\cdot \|\), P is a cone in E, θ is the zero element in E. A partially ordered relation in E is given by \(x\leq y\) iff \(y-x\in P\). P is said to be normal if there exists a positive constant N, such that \(\theta \leq x\leq y\Longrightarrow \|x\|\leq N\|y\|\), the smallest N is called the normal constant of P. Given \(h>\theta \) (i.e., \(h\geq \theta \) and \(h\neq \theta \)), we denote by \(C_{h}\) the set
We say that an operator \(A:E\rightarrow E\) is increasing (decreasing) if \(x\leq y\) implies \(Ax\leq Ay\) (\(Ax\geq Ay\)).
Let \(e\in P\) with \(\theta \leq e\leq h\). Define
Lemma 2.1
([25])
If \(x\in C_{h,e}\), then \(\lambda x+(\lambda -1)e\in C_{h,e}\) for \(\lambda >0\).
Lemma 2.2
([25])
If \(x,y\in C_{h,e}\), then there exist \(0<\mu <1\), \(\gamma >1\) such that
Further, we can choose a small number \(r\in (0,1)\), such that
Definition 2.1
([27])
Let \(A: C_{h,e} \times C_{h,e} \longrightarrow E\) is said to be a mixed monotone operator if \(A(x,y)\) is increasing in x, and decreasing in y, i.e., \(u_{i},v_{i}\in C_{h,e}\) (\(i=1,2\)), \(u_{1}\leq u_{2}\), \(v_{1}\geq v_{2}\) imply \(A(u_{1},v_{1})\leq A(u_{2},v_{2})\). Element \(x\in C_{h,e}\) is called a fixed point of A if \(A(x,x)=x\).
Lemma 2.3
Let P be a normal cone and \(T: C_{h,e} \times C_{h,e}\longrightarrow E\) be a mixed monotone operator with \(T(h,h)\in C_{h,e}\), and the following condition is satisfied:
-
(H)
there exists a mapping \(\varphi : (0, 1) \longrightarrow (0, + \infty )\) with \(\varphi (\lambda )>\lambda \) such that
$$ T \bigl(\lambda u+(\lambda -1)e, \lambda ^{-1}v+\bigl(\lambda ^{-1}-1\bigr)e \bigr) \geq \varphi (\lambda )T(u,v)+ \bigl(\varphi ( \lambda )-1 \bigr)e, $$
for all \(u, v\in C_{h,e}\) and \(\lambda \in (0, 1)\). Then:
-
(1)
there exist \(u_{0},v_{0}\in C_{h,e}\), and \(s\in (0,1)\) such that
$$ sv_{0}\leq u_{0}< v_{0}, u_{0}\leq T(u_{0},v_{0})\leq T(v_{0},u_{0})\leq v_{0}; $$ -
(2)
T has a unique fixed point \(x^{*}\) in \(C_{h,e}\);
-
(3)
for any initial values \(x_{0},y_{0}\in C_{h,e}\), by making the sequences as follows:
$$ x_{n}=T(x_{n-1},y_{n-1}), \qquad y_{n}=T(y_{n-1},x_{n-1}), \quad n=1,2,\ldots , $$we have \(x_{n}\rightarrow x^{*}\) and \(y_{n}\rightarrow x^{*}\) as \(n\rightarrow \infty \).
Proof
Firstly, by (H), we have
for every \(t\in (0,1)\), \(u,v\in C_{h,e}\). For every \(u,v\in C_{h,e}\), there exist \(\sigma _{1},\sigma _{2}\in (0,1)\) such that
Let \(\sigma = \min \{\sigma _{1},\sigma _{2}\}\). Then \(\sigma \in (0,1)\), from (2.1) and the mixed monotone properties of operator T, we have
It follows from \(T(h,h)\in C_{h,e}\) that \(T(u,v)\in C_{h,e}\). Hence we have \(T: C_{h,e}\times C_{h,e}\longrightarrow C_{h,e}\). Since \(T(h,h)\in C_{h,e}\), we can choose a small enough number \(t_{0}\in (0,1)\) such that
Nothing that \(\varphi (t)>t\), we can take a positive integer k such that
Let
Thus
Denote \(u_{0}:=x_{k}\), \(v_{0}:=y_{k}\), then \(u_{0},v_{0}\in C_{h,e}\),
and
Therefore we conclude that there exist \(u_{0},v_{0}\in C_{h,e}\) and \(s\in (0,1)\) such that \(sv_{0}\leq u_{0}\leq v_{0}\) and \(u_{0}\leq T(u _{0},v_{0})\leq T(v_{0},u_{0})\leq v_{0}\).
Construct the sequences
It is clear that \(u_{1}\leq v_{1}\). Combining with the mixed monotone properties of T, we have \(u_{n}\leq v_{n}\), \(n=1,2,\ldots \) . We obtain for all \(n\in \mathbb{N}\)
Furthermore
Let
Thus we have \(u_{n}\geq t_{n}v_{n}+(t_{n}-1)e\), \(n=1,2,\ldots \) , and then \(u_{n+1}\geq u_{n}\geq t_{n}v_{n}+(t_{n}-1)e\geq t_{n}v_{n+1}+(t _{n}-1)e\), \(n=1,2,\ldots \) . Therefore \(t_{n+1}\geq t_{n}\), i.e. \(\{t_{n}\}\) is increasing with \(\{t_{n}\}\subset (0,1]\). Assume that \(t_{n}\rightarrow t^{*}\) as \(n\rightarrow \infty \), then \(t^{*}=1\). If not, \(0< t^{*}<1\).
In the following, we prove that \(t^{*}=1\). If \(0< t^{*}<1\), we need to discuss the following two cases.
Case one: there exists an integer N such that \(t_{N}=t^{*}\). For all \(n>N\), we have \(t_{n}=t^{*}\). Then
We see from the definition of \(t_{n+1}\) that \(t^{*}=t_{n+1}\geq \varphi (t^{*})>t^{*}\), which is a contradiction.
Case two: for all integers n, \(t_{n}< t^{*}\), then we get
Again, it follows from the definition of \(t_{n+1}\) that
Taking \(n\rightarrow \infty \), we have \(t^{*}\geq \varphi (t^{*})>t ^{*}\), which is also a contradiction. Consequently \(t^{*}=1\). Since P is normal, we have
where M is the normality constant. Let \(n\to \infty \) in (2.3), we deduce that
Therefore \({u_{n}}\) and \({v_{n}}\) are Cauchy sequences. Note that E is complete, there exist \(u^{*},v^{*}\in E\) such that \(u_{n} \to u^{*}\), \(v_{n}\to v^{*}\) as \(n\to \infty \). By (2.3), we get
Thus \(u^{*},v^{*}\in C_{h,e}\) and
The normality of P implies that
Consequently \(u^{*}=v^{*}\). Put \(x^{*}=u^{*}=v^{*}\) and we have
Taking \(n\to \infty \), we deduce that \(x^{*}=T(x^{*},x^{*})\). That is, \(x^{*}\) is a fixed point of T in \(C_{h,e}\).
Secondly, we prove that \(x^{*}\) is the unique fixed point of T in \(C_{h,e}\). Assume that \(y^{*}\) is any fixed point of T in \(C_{h,e}\). It follows from Lemma 2.2 and \(x^{*},y^{*}\in C_{h,e}\) that there exists \(\tau >0\) such that
Let
Next we show that \(\widetilde{t}\geq 1\). If \(0<\widetilde{t}<1\), then
Combining with the definition of t̃, we have \(\widetilde{t}\geq \varphi (\widetilde{t} )>\widetilde{t}\), which is a contradiction. Hence \(\widetilde{t}\geq 1\). Furthermore
Similarly, we also deduce that \(y^{*}\geq x^{*}\). Therefore \(x^{*}=y^{*}\).
Lastly, we construct successively the sequences \(x_{n}=T(x_{n-1},y _{n-1})\), \(y_{n}=T(y_{n-1},x_{n-1})\), \(n=1,2,\ldots \) , for any initial points \(x_{0},y_{0}\in C_{h,e}\). Thus, we can take small numbers \(\tau _{2},\tau _{3}\in (0,1)\) such that
Let \(\tau ^{*}=\min \{\tau _{2},\tau _{3}\}\). Then \(\tau ^{*}\in (0,1)\) and
We can choose a sufficiently large positive integer m such that
Set
Obviously, \(\overline{u}_{0},\overline{v}_{0}\in C_{h,e}\), and \(\overline{u}_{0}< x_{0}\), \(y_{0}<\overline{v}_{0}\). Let
Similarly, there exists \(\overline{y}\in C_{h,e}\) such that
Since fixed points of T in \(C_{h,e}\) is unique, we have \(x^{*}= \overline{y}\). And by induction, \(\overline{u}_{n}< x_{n}\), \(y_{n}< \overline{v}_{n}\), \(n=1,2,\ldots \) . By the normality of P, we deduce that \(\lim_{n\to \infty } x_{n}=\lim_{n\to \infty }y _{n}=x^{*}\). □
3 Main result
In this section we consider the existence and uniqueness of a solution for the operator equation (1.1).
Theorem 3.1
Let P be a normal cone in E, and let \(A,B: C_{h,e}\times C_{h,e}\longrightarrow E\) be two mixed monotone operators and satisfy the following conditions:
-
(i)
for all \(t\in (0,1)\), there exists \(\psi (t)\in (t,1)\) such that
$$ A\bigl(tx+(t-1)e,t^{-1}y+\bigl(t^{-1}-1\bigr)e\bigr)\geq \psi (t)A(x,y)+ \bigl(\psi (t)-1 \bigr)e, \quad \forall x,y\in C_{h,e}; $$ -
(ii)
for all \(t\in (0,1)\) and \(x,y\in C_{h,e}\)
$$ B\bigl(tx+(t-1)e,t^{-1}y+\bigl(t^{-1}-1\bigr)e\bigr)\geq tB(x,y)+(t-1)e; $$ -
(iii)
\(A(h,h)\in C_{h,e}\) and \(B(h,h)\in C_{h,e}\);
-
(iv)
there exists a constant \(\delta >0\), such that for all \(x,y\in C_{h,e}\)
$$ A(x,y)\geq \delta B(x,y)+(\delta -1)e. $$
Then the operator equation (1.1) has a unique solution \(x^{*}\) in \(C_{h,e}\), and for any initial values \(x_{0},y_{0}\in C_{h,e}\), by setting the sequences
we have \(x_{n}\to x^{*}\) and \(y_{n}\to x^{*}\) in E as \(n\to \infty \).
Proof
Firstly, from conditions (i) and (ii), for every \(t\in (0,1)\) and \(x,y\in C_{h,e}\), we have
Since \(A(h,h)\in C_{h,e}\), \(B(h,h)\in C_{h,e}\), there exist constants \(a_{i}>0\) and \(b_{i}>0\) (\(i=1,2\)) such that
Next we show that \(A: C_{h,e}\times C_{h,e}\to C_{h,e}\). For every \(x,y\in C_{h,e}\), we can take two small enough numbers \(\alpha _{1}, \alpha _{2}\in (0,1)\) such that
Let \(\alpha =\min \{\alpha _{1},\alpha _{2}\}\), then \(\alpha \in (0,1)\), by (3.1), (3.3)–(3.5), we obtain
and
Hence \(A(x,y)\in C_{h,e}\), that is \(A: C_{h,e}\times C_{h,e}\to C_{h,e}\).
Finally, we prove that \(B: C_{h,e}\times C_{h,e}\to C_{h,e}\). For every \(x,y\in C_{h,e}\), we can choose two sufficiently small numbers \(\beta _{1},\beta _{2}\in (0,1)\) such that
Let \(\beta =\min \{\beta _{1},\beta _{2}\}\), then \(\beta \in (0,1)\), by (3.2), (3.3), (3.4) and (3.6), we deduce that
and
Therefore \(B: C_{h,e}\times C_{h,e}\to C_{h,e}\).
Now we define the operator \(T=A+B+e: C_{h,e}\times C_{h,e}\to E\) by
Then \(T: C_{h,e}\times C_{h,e}\to E\) is a mixed monotone operator. Note that \(A(h,h)\in C_{h,e}\), \(B(h,h)\in C_{h,e}\), we have \(T(h,h)=A(h,h)+B(h,h)+e \in C_{h,e}\).
In the following, we show that, for every \(t\in (0,1)\), there exists \(\varphi (t)\in (t,1]\), such that, for all \(x,y\in C_{h,e}\), \(T(tx+(t-1),t^{-1}y+(t^{-1}-1)e)\geq \varphi (t)T(x,y)+(\varphi (t)-1)e\). For every \(x,y\in C_{h,e}\), by condition (iv), we have
By the conditions (i), (ii), (3.7) and (3.8), for every \(x,y\in C_{h,e}\), we obtain
Thus
Let \(\varphi (t)=\frac{\delta \psi (t)+t}{1+\delta }\), then \(\varphi (t)\in (t,\psi (t))\subset (t,1]\), \(t\in (0,1)\), by (3.10), we conclude that
According to Lemma 2.3, we obtain the conclusion of Theorem 3.1. □
4 Application to nonlinear fourth-order two-point boundary value problem
Lemma 4.1
([9])
Suppose that \(h\in C[0,1]\). Then the boundary value problem
has a unique solution
where \(G(t,s)\) is the Green function given by
By (4.1), we know that the following boundary value problem:
where \(h,g\in C[0,1]\) has the following integral expression:
where \(G(t,s)\) is introduced in Lemma 4.1.
Lemma 4.2
([14])
For \((t,s)\in [0,1]\times [0,1]\), we have
In the following, we consider in the Banach space
equipped with the norm \(\|x\|=\sup \{|x(t)|: t\in [0,1]\}\). It is obvious that \(C[0,1]\) can be endowed with a partial order
Set \(P=\{x\in C[0,1]|x(t)\geq 0,t\in [0,1]\}\). We see that P is a normal cone in \(C[0,1]\). Let
Theorem 4.1
Suppose that the following assumptions are satisfied:
- (H1)′:
-
\(f: [0,1]\times [-e^{*},+\infty )\times [-e^{*},+\infty ) \to (-\infty ,+\infty )\) and \(g: [-e^{*},+\infty )\to (-\infty ,0]\) are continuous functions. Moreover, g is decreasing, where \(e^{*}= \max \{e(t): t\in [0,1]\}\);
- (H2)′:
-
\(f(t,x,y)\) is increasing in x and decreasing in y for fixed \(t\in [0,1]\);
- (H3)′:
-
\(g(\lambda x+(\lambda -1)c)\leq \lambda g(x)\) for every \(\lambda \in (0,1)\), \(x\in [-e^{*},+\infty )\) and \(c\in [0,e^{*}]\);
- (H4)′:
-
for every \(\lambda \in (0,1)\), there is \(\psi (\lambda )> \lambda \) such that
$$\begin{aligned}& f\bigl(t,\lambda x+(\lambda -1)c,\lambda ^{-1}y+ \bigl(\lambda ^{-1}-1 \bigr)c\bigr) \geq \psi (\lambda )f(t,x,y), \end{aligned}$$for every \(t\in [0,1]\), \(x\in (-\infty ,+\infty )\), \(y\in (-\infty ,+\infty )\), \(c\in [0,e^{*}]\);
- (H5)′:
-
\(g(q)<0\) with \(q\geq \frac{7b}{24}\), and there exists a constant \(\xi >0\) such that
$$ -g(x)\leq \xi \leq \frac{2}{3} \int _{0}^{1}s^{2}f(s,0,y)\,ds, \quad \textit{for every }x, y\in \big[-e^{*},+\infty \big); $$ - (H6)′:
-
\(H: C[0,1]\to C[0,1]\) and satisfies the following assumptions:
- (a)′:
-
\(Hu\geq 0\) for every \(u\in C_{h,e}\);
- (b)′:
-
for \(u,v\in C_{h,e}\), \(u\leq v\Rightarrow Hu\leq Hv\);
- (c)′:
-
for \(\lambda \in (0,1)\) and \(u\in C_{h,e}\),
$$\begin{aligned}& H\bigl(\lambda u+(\lambda -1)c\bigr)\geq \lambda (Hu)+(\lambda -1)c, \quad c \in \bigl[0,e^{*}\bigr]. \end{aligned}$$
Then the problem (1.5) has a unique nontrivial solution \(u^{*}\) in \(C_{h,e}\), where \(h(t)=qt^{2}\), \(t\in [0,1]\).
Proof
Firstly, for \(t\in [0,1]\)
That is, \(e\in P\). Furthermore, for \(t\in [0,1]\)
Hence, \(0< e(t)\leq h(t)\). In addition, \(C_{h,e}=\{u\in C[0,1]|u+e \in C_{h}\}\). From Lemma 4.1, we rewrite the problem (1.5) as a Hammerstein integral equation
Define
for every \(t\in [0,1]\) and \(u,v\in C_{h,e}\). We know that the solutions of the problem (1.5) are fixed points of the operator \(A+B+e\).
Next, we check that assumptions of Theorem 3.1 are satisfied. We prove that A is a mixed monotone operator. In fact, for \(u_{1}, u_{2}, v \in C_{h,e}\), with \(u_{1}\leq u_{2}\), we have, for all \(t\in [0,1]\),
Similarly, for \(u, v_{1}, v_{2}\in C_{h,e}\), with \(v_{1} \geq v_{2}\), we have, for all \(t\in [0,1]\),
That is, A is a mixed monotone operator. In order to prove that B is an increasing operator, we take \(u,v\in C_{h,e}\), with \(u\leq v\). Since g is decreasing, \(g (v(1) )\leq g (u(1) )\) and it follows that
for any \(t\in [0,1]\). Therefore, B is an increasing operator.
For \(\lambda \in (0,1)\) and \(u\in C_{h,e}\), together with assumption (H6)′ ((c)′), and noting that
we obtain
Now, for \(\lambda \in (0,1)\), \(u,v\in C_{h,e}\) and \(t\in [0,1]\), it follows from (4.3) (H2)′ and (H4)′ that
Thus
for every \(u, v\in C_{h,e}\), \(\lambda \in (0,1)\), and \(\psi (\lambda )>\lambda \). Taking \(\lambda \in (0,1)\), \(u\in C_{h,e}\) and \(t\in [0,1]\), by assumption (H3)′, we have
Hence, we obtain
In the following, we show that \(A(h,h)\in C_{h,e}\) and \(Bh\in C_{h,e}\). So we need to prove \(A(h,h)+e\in C_{h}\), \(Bh+e\in C_{h}\). We consider the function \(h(t)=qt^{2}\) for every \(t\in [0,1]\). Since \(0\leq h(t) \leq q\) for every \(t\in [0,1]\), by assumption (H6)′, we have \(0\leq Hh\leq Hq\). For every \(t\in [0,1]\), it follows from Lemma 4.2 and (H2)′ that
and
Set
Since \(\frac{1}{q} \int _{0}^{1}\frac{s}{2}f (s,q,0 )\,ds\geq \frac{1}{q} \int _{0}^{1}\frac{s^{2}}{3}f (s,0,(Hq)(s) )\,ds\geq \frac{ \xi }{2q}>0\), then \(l_{2}>l_{1}>0\). Thus \(A(h,h)+e\in C_{h}\).
Now we prove that \(Bh+e\in C_{h}\). In fact, for \(t\in [0,1]\), using (H5)′, we deduce that
and
Let
Since \(g(q)<0\), \(0<\beta _{2}<\beta _{1}\), combining with (H5)′, we have \(Bh+e\in C_{h}\).
For every \(u,v\in C_{h,e}\) and \(t\in [0,1]\), by Lemma 4.2 and (H5)′, we get
which implies that, for every \(u,v\in C_{h,e}\), \(A(u,v)\geq \delta _{0}Bu+(\delta _{0} -1)e\), with \(\delta _{0}=1\). Therefore all the conditions of Theorem 3.1 are fulfilled. Consequently, the conclusion of Theorem 4.1 holds. □
Now, we give an example to illustrate our main result.
Example 4.1
Consider the following boundary value problem:
where
and \(g:[-\frac{1}{4},+\infty )\to (-\infty ,0]\) is the function defined as
Choose
Then
and
It is easy to check that H satisfies assumption (H6)′ of Theorem 4.1, \(f:[0,1]\times [-\frac{1}{4},+\infty )\times [-\frac{1}{4},+ \infty )\to (-\infty ,+\infty )\) is continuous and increasing in x and decreasing in y for fixed \(t\in [0,1]\), and \(g:[-\frac{1}{4},+ \infty )\to (-\infty ,\frac{1}{4})\) is continuous and decreasing.
In the following, we verify the assumptions (H3)′ and (H4)′ of Theorem 4.1. For \(\lambda \in (0,1)\), \(x,y\in (-\infty ,+\infty )\) and \(c\in [0,e^{*}]\), we have
and
Let \(\varphi (\lambda )=\lambda ^{\frac{2}{5}}\). Then
Therefore, assumption (H3)′, (H4)′ of Theorem 4.1 are satisfied.
Moreover, taking \(x,y\in (-\infty ,+\infty )\), we get
Note that \(g(\frac{7}{24})=-\frac{13}{24}<0\), thus assumption (H5)′ of Theorem 4.1 holds.
5 Application to fractional differential equation boundary value problem
In this section, we consider the following fractional boundary value problem:
where \(n\geq 3\) (\(n\in \mathbb{N}\)), \(b>0\) is a constant, \(f,g:[0,1] \times (-\infty ,+\infty )\times (-\infty ,+\infty )\to (-\infty ,+ \infty )\) are continuous functions, and \(D_{0^{+}}^{\alpha }\) is the Riemann–Liouville fractional derivative of order α, i.e.,
where \(k=[\alpha ]+1\), \([\alpha ]\) denotes the integer part of the number α. Because of non-local behavior, fractional order boundary value problems are extensively applied to blood flow problems, control theory, the fluid-dynamic traffic model and polymer rheology. It implies that differential operators of arbitrary order can describe memory and hereditary properties of certain important processes [28,29,30,31]. There are many tools to deal with the uniqueness and multiplicity of solutions for fractional differential equations such as mixed monotone operators [23, 32,33,34], Avery–Peterson fixed point theorem [35, 36], Guo–Krasnosel’skii fixed point theorem on a cone [37, 38], the fixed point index theory [39,40,41], monotone iteration method [42], the critical point theory [43, 44], Schauder’s fixed point theory [45] and stability.
Problem (5.1) has caused great attention since it generalizes the well-known elastic beam equation [46]. In [47], Goodrich first obtained some properties of the Green’s function corresponding to (5.1). Then, applying these properties and Krasnosel’skii fixed point theorem in cones, the author gave some sufficient conditions under which problem (5.1) when \(g\equiv 0\) and \(b=0\) has a positive solution. Note that the nonlinearity discussed in [47] grows sublinearly. Furthermore, through the nonlinearity is again considered to grow sublinearly, Xu, Wei and Dong [39] utilized fixed point index theory to establish existence and uniqueness theorems of problem (5.1) based on a priori estimate. On the other hand, if we replace \(g(t,u(t),u(t))\) with \(g(t,u(t))\) in problem (5.1), Jleli and Samet [33] studied the existence and uniqueness of positive solutions for problem (5.1) with \(b=0\). The authors proved that problem (5.1) has a unique solution by a mixed monotone fixed point theorem obtained in [14]. Zhang and Tian [34] and Yang, Shen and Xie [35] be both concerned with the case that the derivative of the unknown function is involved in the nonlinear term. Recently, Liu et al. [23] obtained a unique solution of problem with \(b=0\) by the fixed point theorems of a sum operator on a cone. We point out that the assumptions imposed on the nonlinear terms f and g in [23, 33,34,35,36, 39] are nonnegative. The interesting point of this paper is to remove above restrictions.
Lemma 5.1
Let \(g(t)\in C[0,1]\), then the fractional boundary value problem
has a unique positive solution
where
Lemma 5.2
The Green function \(G(t,s)\) in Lemma 5.1 has the following properties:
-
(1)
\(G(t,s)\) is continuous on \([0,1]\times [0,1]\);
-
(2)
for all \((t,s)\in [0,1]\times [0,1]\), we can have \(G(t,s)\geq 0\);
-
(3)
for all \(t,s\in [0,1]\), we have
$$ \bigl(1-(1-s)^{\beta } \bigr) (1-s)^{\alpha -\beta -1}t^{\alpha -1} \leq \varGamma (\alpha )G(t,s)\leq (1-s)^{\alpha -\beta -1}t^{\alpha -1}. $$(5.2)
Define
and
It is clear that E is a Banach space and P is a normal cone of E. Let
Theorem 5.1
Suppose that the following assumptions hold:
- (C1):
-
\(f,g:[0,1]\times [-e^{*},+\infty )\times [-e^{*},+\infty )\to (- \infty ,+\infty )\) are continuous and for all \(t\in [0,1]\), \(g(t,0,H)\geq 0\) with \(g(t,0,H)\not \equiv 0\) where \(H\geq \frac{b}{( \alpha -\beta )\varGamma (\alpha )}\) and \(e^{*}=\max \{e(t):t\in [0,1]\}\);
- (C2):
-
for fixed \(t\in [0,1]\) and \(y\in [-e^{*},+\infty )\), \(f(t,x,y)\), \(g(t,x,y)\) are increasing in \(x\in [-e^{*},+\infty )\); for fixed \(t\in [0,1]\) and \(x\in [-e^{*},+\infty )\), \(f(t,x,y)\), \(g(t,x,y)\) are decreasing in \(y\in [-e^{*},+\infty )\);
- (C3):
-
for all \(\lambda \in (0,1)\), there exists \(\psi (\lambda )\in ( \lambda ,1)\), such that, for all \(t\in [0,1]\),
$$\begin{aligned}& f \bigl(t,\lambda x+(\lambda -1)\rho ,\lambda ^{-1}y+ \bigl(\lambda ^{-1}-1\bigr) \rho \bigr)\geq \psi (\lambda )f(t,x,y), \\& \quad x,y\in (-\infty ,+\infty ), \rho \in \bigl[0,e^{*}\bigr], \end{aligned}$$(5.3)$$\begin{aligned}& g \bigl(t,\lambda x+(\lambda -1)\rho ,\lambda ^{-1}y+ \bigl(\lambda ^{-1}-1\bigr) \rho \bigr)\geq \lambda g(t,x,y), \\& \quad x,y\in (-\infty ,+\infty ), \rho \in \bigl[0,e^{*}\bigr]; \end{aligned}$$(5.4) - (C4):
-
there exists a constant \(\delta >0\), such that
$$ f(t,x,y)\geq \delta g(t,x,y), \quad \textit{for all } t\in [0,1], x,y\in \big[-e^{*},+\infty \big). $$
Then the problem (5.1) has a unique nontrivial solution \(u^{*}\) in \(C_{h,e}\), where \(h(t)=Ht^{\alpha -1}\), \(t\in [0,1]\). Moreover, we can construct the following two sequences:
for any given \(\omega _{0},\tau _{0} \in C_{h,e}\), and we have \(\{\omega _{n}(t)\}\) and \(\{\tau _{n}(t)\}\) both converge to \(u^{*}(t)\) uniformly for all \(t\in [0,1]\).
Proof
For \(t\in [0,1]\)
That is \(e\in P\). Further, for \(t\in [0,1]\)
Hence, \(0< e(t)\leq h(t)\). In addition, \(C_{h,e}=\{u\in C[0,1]|u+e \in C_{e}\}\). From Lemma 5.1, the problem (5.1) has the integral formulation
For every \(t\in [0,1]\) and \(u,v\in C_{h,e}\), we consider the operators defined by
It is clear that u is the solution of the problem (5.1) if and only if \(u=A(u,u)+B(u,u)+e\).
(1) Firstly, we show that \(A,B:C_{h,e}\times C_{h,e}\to E\) are mixed monotone operators. In fact, for all \(u_{i},v_{i}\in C_{h,e}\) (\(i=1,2\)) with \(u_{1}\geq u_{2}\), \(v_{1}\leq v_{2}\), by (C2), we get
That is \(A(u_{1},v_{1})\geq A(u_{2},v_{2})\). In a similar way we get \(B(u_{1},v_{1})\geq B(u_{2},v_{2})\).
(2) From (C3), for every \(\lambda \in [0,1]\) and \(t\in [0,1]\), there exists \(\psi (\lambda )\in (\lambda ,1)\) such that, for every \(u,v\in C_{h,e}\), we have
and
(3) Next we show that \(A(h,h)\in C_{h,e}\), \(B(h,h)\in C_{h,e}\). It is sufficient to prove \(A(h,h)+e\in C_{h}\), \(B(h,h)+e\in C_{h}\). It follows from Lemma 5.2 and (C1), (C3) that
and
Since \(\alpha > \beta \), \(\varGamma (\alpha )>0\) and from (C2), (C4), we derive that
Note that \(g(s,0,H)\not \equiv 0\) and \(g(s,0,H)\geq 0\) for every \(s\in [0,1]\), we have
Let
Thus \(l_{2}h(t)\leq A(h,h)(t)+e(t)\leq l_{1}h(t)\), \(t\in [0,1]\) and we have \(A(h,h)\in C_{h,e}\). In a similar way we get
and
Let
Thus \(l_{4}h(t)\leq B(h,h)(t)+e(t)\leq l_{3}h(t)\), \(t\in [0,1]\) and we have \(B(h,h)\in C_{h,e}\).
(4) For every \(u,v\in C_{h,e}\), \(t\in [0,1]\), from (C4) we know that
so we get \(A(u,v)\geq \delta B(u,v)+ (\delta -1 )e\). Therefore all the conditions of Theorem 3.1 are satisfied. Consequently the conclusion of Theorem 5.1 holds. □
6 Conclusions
In this paper, we firstly consider the existence and uniqueness of solution to the operator equation (1.4) on ordered Banach spaces E. Secondly, based on main results of [1], we apply our abstract result for (1.1) to improve and generalize conditions (H1)–(H6). Finally, we use Theorem 3.1 to prove fractional boundary value problem (5.1) to have a unique solution.
References
Cabrera, I.J., López, B., Sadarangani, K.: Existence of positive solutions for the nonlinear elastic beam equation via a mixed monotone operator. J. Comput. Appl. Math. 327, 306–313 (2018)
Bonanno, G., Bella, B.D., O’Regan, D.: Non-trivial solutions for nonlinear fourth-order elastic beam equations. Comput. Math. Appl. 62, 1862–1869 (2011)
Cabada, A., Enguia, R.R.: Positive solutions of fourth order problems with clamped beam boundary conditions. Nonlinear Anal. 74, 3112–3122 (2011)
Li, Y.: Existence of positive solutions for the cantilever beam equations with fully nonlinear terms. Nonlinear Anal., Real World Appl. 27, 221–237 (2016)
Wang, W.X., Zheng, Y.P., Yang, H., Wang, J.X.: Positive solutions for elastic beam equations with nonlinear boundary conditions and a parameter. Bound. Value Probl. 2014, 80 (2014)
Cianciaruso, F., Infante, G., Pietramala, P.: Solutions of perturbed Hammerstein integral equations with applications. Nonlinear Anal., Real World Appl. 33, 317–347 (2017)
Zhang, K.M.: Non-trivial solutions of fourth-order singular boundary value problems with sign-changing nonlinear terms. Topol. Methods Nonlinear Anal. 40, 53–70 (2012)
Hao, X.A., Xu, N.W., Liu, L.S.: Existence and uniqueness of positive solutions for fourth-order m-point boundary value problems with two parameters. Rocky Mt. J. Math. 43, 1161–1180 (2013)
Alves, E., Ma, T.F., Pelicer, M.L.: Monotone positive solutions for a fourth order equation with nonlinear boundary conditions. Nonlinear Anal. 71, 3834–3841 (2009)
Li, S.Y., Zhang, X.Q.: Existence and uniqueness of monotone positive solutions for an elastic beam equation with nonlinear boundary conditions. Comput. Math. Appl. 63, 1355–1360 (2012)
Zhang, X.P.: Existence and iteration of monotone positive solutions for an elastic beam with a corner. Nonlinear Anal., Real World Appl. 10, 2097–2103 (2009)
Dang, Q.A., Ngo, T.K.Q.: Existence results and iterative method for solving the cantilever beam equation with fully nonlinear term. Nonlinear Anal. 36, 56–68 (2017)
Lin, X.L., Zhao, Z.Q.: Existence and uniqueness of symmetric positive solutions of 2n-order nonlinear singular boundary value problems. Appl. Math. Lett. 26, 692–698 (2013)
Zhai, C.B., Anderson, D.R.: A sum operator equation and applications to nonlinear elastic beam equations and Lane–Emden–Fowler equations. J. Math. Anal. Appl. 375, 388–400 (2011)
Zhai, C.B., Jiang, C.R., Li, S.Y.: Approximating monotone positive solutions of a nonlinear fourth-order boundary value problem via sum operator method. Mediterr. J. Math. 14(77), 1–12 (2017)
Cabada, A., Tersian, S.: Multiplicity of solutions of a two point boundary value problem for a fourth-order equation. Appl. Math. Comput. 219, 5261–5267 (2013)
Song, Y.P.: A nonlinear boundary value problem for fourth-order elastic beam equations. Bound. Value Probl. 2014, 191 (2014)
Zhao, Z.Q.: Positive solutions of semi-positone Hammerstein integral equations and applications. Appl. Math. Comput. 219, 2789–2797 (2012)
Guo, D.J., Lakshmikantham, V.: Coupled fixed points of nonlinear operators with applications. Nonlinear Anal. 11, 623–632 (1987)
Bhaskar, T.G., Lakshmikantham, V.: Fixed point theorems in partially ordered metric spaces and applications. Nonlinear Anal. TMA 65, 1379–1393 (2006)
Harjani, J., López, B., Sadarangani, K.: Fixed point theorems for mixed monotone operators and applications to integral equations. Nonlinear Anal. TMA 74, 1749–1760 (2011)
Li, X.C., Zhao, Z.Q.: On a fixed point theorem of mixed monotone operators and applications. Electron. J. Qual. Theory Differ. Equ. 94, 1 (2011)
Liu, L.S., Zhang, X.Q., Jiang, J., Wu, Y.H.: The unique solution of a class of sum mixed monotone operator equations and its application to fractional boundary value problems. J. Nonlinear Sci. Appl. 9, 2943–2958 (2016)
Wardowski, D.: Mixed monotone operators and their application to integral equations. J. Fixed Point Theory Appl. 19, 1103–1117 (2017)
Zhai, C.B., Wang, L.: φ–\((h,e)\)-concave operators and applications. J. Math. Anal. Appl. 454, 571–584 (2017)
Guo, D., Lakshmikantham, V.: Nonlinear Problems in Abstract Cones. Academic Press, New York (1988)
Guo, D.: Partial Order Methods in Nonlinear Analysis. Jinan, Shandong Science & Technology Press, (2000) (in Chinese)
Samko, S.G., Kilbas, A.A., Marichev, O.I.: Fractional Integrals and Derivatives: Theory and Applications. Gordon & Breach, Switzerland (1993)
Kilbas, A., Srivastava, H., Trujillo, J.J.: Theory and Applications of Fractional Differential Equations. North-Holland Mathematics Studies. Elsevier, Amsterdam (2006)
Podlubny, I.: Fractional Differential Equations, Mathematics in Science and Engineering. Academic Press, New York (1999)
Afshari, H., Marasi, H., Aydi, H.: Existence and uniqueness of positive solutions for boundary value problems of fractional differential equations. Filomat 31(9), 2675–2682 (2017)
Wang, Y.Q., Liu, L.S., Wu, Y.H.: Existence and uniqueness of a positive solution to singular fractional differential equations. Bound. Value Probl. 2012, 81 (2012)
Jleli, M., Samet, B.: Existence of positive solutions to an arbitrary order fractional differential equation via a mixed monotone operator method. Nonlinear Anal., Model. Control 20(3), 367–376 (2015)
Zhang, L.L., Tian, H.M.: Existence and uniqueness of positive solutions for a class of nonlinear fractional differential equations. Adv. Differ. Equ. 2017, 114 (2017)
Yang, L., Shen, C.F., Xie, D.P.: Multiple positive solutions for nonlinear boundary value problem of fractional order differential equation with the Riemann–Liouville derivative. Adv. Differ. Equ. 2014, 284 (2014)
Jankowski, T.: Positive solutions to advanced fractional differential equations with nonlocal boundary conditions. Appl. Anal. Discrete Math. 9, 209–220 (2015)
Wang, Y., Jiang, J.Q.: Existence and nonexistence of positive solutions for the fractional coupled system involving generalized p-Laplacian. Adv. Differ. Equ. 2017, 337 (2017)
Wang, Y., Liu, L.S., Wu, Y.H.: Positive solutions for a class of higher-order singular semipositone fractional differential systems with coupled integral boundary conditions and parameters. Adv. Differ. Equ. 2014, 268 (2014)
Xu, J.F., Wei, Z.L., Dong, W.: Uniqueness of positive solutions for a class of fractional boundary value problems. Appl. Math. Lett. 25, 590–593 (2012)
Wang, Y.Q., Liu, L.S., Wu, Y.H.: Positive solutions for a nonlocal fractional differential equation. Nonlinear Anal. 74, 3599–3605 (2011)
Zhang, K.M.: On sign-changing solution for some fractional differential equations. Bound. Value Probl. 2017, 59 (2017)
Wang, Y.Q., Liu, L.S.: Necessary and sufficient condition for the existence of positive solution to singular fractional differential equations. Adv. Differ. Equ. 2015, 207 (2015)
Du, X.S., Mao, A.M.: Existence and multiplicity of nontrivial solutions for a class of semilinear fractional Schrodinger equations. J. Funct. Spaces 2017, Article ID 3793872 (2017)
Zhang, X.G., Liu, L.S., Wu, Y.H., Wiwatanapataphee, B.: Nontrivial solutions for a fractional advection dispersion equation in anomalous diffusion. Appl. Math. Lett. 66, 1–8 (2017)
Graef, J.R., Kong, L., Yang, B.: Positive solutions for a fractional boundary value problem. Appl. Math. Lett. 56, 49–55 (2016)
Graef, J.R., Yang, B.: Positive solutions of a nonlinear fourth order boundary value problem. Commun. Appl. Nonlinear Anal. 14, 61–73 (2007)
Goodrich, C.S.: Existence of a positive solution to a class of fractional differential equations. Appl. Math. Lett. 23, 1050–1055 (2010)
Acknowledgements
The authors would like to thank the referees for their useful suggestions.
Availability of data and materials
Data sharing not applicable to this article as no data sets were generated or analyzed during the current study.
Funding
This project is supported by the Natural Science Foundation of Shanxi Province (201601D011003), NSFC (11401583) and the Fundamental Research Funds for the Central Universities (16CX02051A).
Author information
Authors and Affiliations
Contributions
All authors contributed equally to this work. All authors read and approved the final manuscript.
Corresponding author
Ethics declarations
Competing interests
The authors declare that they have no competing interests.
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
About this article
Cite this article
Sang, Y., Ren, Y. Nonlinear sum operator equations and applications to elastic beam equation and fractional differential equation. Bound Value Probl 2019, 49 (2019). https://doi.org/10.1186/s13661-019-1160-x
Received:
Accepted:
Published:
DOI: https://doi.org/10.1186/s13661-019-1160-x