Abstract
In this paper, we present the studies on two kinds of solutions to fuzzy functional differential equations (FFDEs) and sheaf fuzzy functional differential equations (SFFDEs). The different types of solutions to FFDEs and SFFDEs are generated by the usage of generalized Hukuhara derivative concepts of fuzzy derivative in the formulation of a differential problem. Some examples are given to illustrate these results.
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1 Introduction
The study of fuzzy differential equations (FDEs) forms a suitable setting for mathematical modeling of real-world problems in which uncertainties or vagueness pervade. Most practical problems can be modeled as FDEs [1, 2]. There are several approaches to the study of FDEs. One popular approach is based on H-differentiability for fuzzy number value functions. Under this setting, mainly the existence and uniqueness of the solution of a FFDE are studied (see, e.g., [3–6]). However, this approach has the disadvantage that it leads to solutions which have an increasing length of their support. Recently, Bede and Gal [7] solved the above mentioned approach under strongly generalized differentiability of fuzzy-number-valued functions. In this case the derivative exists and the solution of a fuzzy differential equation may have decreasing length of the support, but the uniqueness is lost. Other researchers have proposed several approaches to the solutions of FDEs (e.g., [3, 8–15]). Therefore, our point is that the generalization of the concept of H-differentiability can be of great help in the dynamic study of fuzzy functional differential equations and sheaf fuzzy problems for fuzzy functional differential equations. Recently, several works, e.g., [4, 9, 16–20], studied fuzzy differential equations and fuzzy integro-differential equations, fractional fuzzy differential equations, and some methods for solving fuzzy differential equations [21, 22] were proposed.
In [10], author considered the fuzzy functional differential equation
where and the symbol ′ denotes the first type Hukuhara derivative (classical Hukuhara derivative). Author studied the local and global existence and uniqueness results for (1.1) by using the method of successive approximations and the contraction principle. Malinowski [23] studied the existence and uniqueness result of a solution to the delay set-valued differential equation under condition that the right-hand side of the equation is Lipschitzian in the functional variable. In this paper, under the generalized Lipschitz condition, we obtain the local existence and uniqueness of two solutions to (1.1). Besides, we establish the global existence and uniqueness of two solutions to (1.1) by using some dissipative conditions [11]. We were inspired and motivated by the results of Stefanini and Bede [7, 24], Malinowski [23] and Lupulescu [10, 11]. The paper is organized as follows. In Section 2, we collect the fundamental notions and facts about a fuzzy set space, fuzzy differentiation. In Section 3, we discuss the FFDE with the generalized Hukuhara derivative. Under suitable conditions we prove the existence and uniqueness of the solution to FFDE by using two different methods. In Section 4, the existence and uniqueness of the sheaf solutions to sheaf fuzzy functional differential equations are studied. Finally, we give some examples to illustrate these results.
2 Preliminaries and notation
In this section, we give some notations and properties related to a fuzzy set space and summarize the major results for differentiation of fuzzy-set-valued mappings. Let denote the collection of all nonempty compact and convex subsets of and scalar multiplication in as usual, i.e., for and ,
The Hausdorff distance in is defined as follows:
where , denotes the Euclidean norm in . It is known that is complete, separable and locally compact. Define
-
(i)
ω is normal, that is, there exists such that ;
-
(ii)
ω is fuzzy convex, that is, for ,
for any ;
-
(iii)
ω is upper semicontinuous;
-
(iv)
is compact, where cl denotes the closure in .
Although elements of are often called the fuzzy numbers, we shall just call them the fuzzy sets. For , define . We will call this set an α-cut (α-level set) of the fuzzy set ω. For , one has that for every . In the case , the α-cut set of a fuzzy number is a closed bounded interval , where denotes the left-hand endpoint of and the right-hand endpoint of . It should be noted that for , , a triangular fuzzy number is given such that and are the endpoints of the α-cut for all .
Let us denote by
the distance between and in , where is a Hausdorff distance between two sets , of . Then is a complete space. Some properties of metric are as follows:
for all and . Let . If there exists such that , then is called the H-difference of , and it is denoted by . Let us remark that .
If for fuzzy numbers there exist Hukuhara differences , , then and .
Definition 2.1 ([25])
The generalized Hukuhara difference of two fuzzy numbers (gH-difference for short) is defined as follows:
The generalized Hukuhara differentiability was introduced in [24].
Definition 2.2 Let and h be such that , then the generalized Hukuhara derivative of a fuzzy-valued function at t is defined as
If satisfying (2.1) exists, we say that x is generalized Hukuhara differentiable (gH-differentiable for short) at t.
Theorem 2.1 ([25])
Let , and put for each . The function x is gH-differentiable if and only if and are differentiable with respect to t for all , and
Definition 2.3 Let , and put for each . We say that
-
(i)
x is [(i)-gH]-differentiable at t if , are differentiable functions and we have
(2.2) -
(ii)
x is [(ii)-gH]-differentiable at t if , are differentiable functions and we have
(2.3)
Definition 2.4 ([25])
We say that a point is a switching point for the differentiability of x, if in any neighborhood V of t there exist points such that
(type I) at (2.2) holds while (2.3) does not hold and at (2.3) holds and (2.2) does not hold, or
(type II) at (2.3) holds while (2.2) does not hold and at (2.2) holds and (2.3) does not hold.
Lemma 2.1 (Bede and Gal [7])
If is a triangular fuzzy-valued function, then
-
(i)
if x is [(i)-gH]-differentiable (i.e., Hukuhara differentiable), then ;
-
(ii)
if x is [(ii)-gH]-differentiable, then .
Lemma 2.2 (see [8])
Let and put for each .
-
(i)
If x is [(i)-gH]-differentiable, then , are differentiable functions and .
-
(ii)
If x is [(ii)-gH]-differentiable, then , are differentiable functions and we have .
In the following, we shall recall some concepts which were introduced and studied in [10]. In [10], the author introduced a new concept of inner product on the fuzzy space .
For , we consider the function , defined by
Lemma 2.3 (see [10])
For every , there exists the limit
Definition 2.5 (see [10])
For any , we define the inner product on by
Corollary 2.1 (see [10])
For every , we have that
Theorem 2.2 (see [10])
If is continuously differentiable on , then
for every .
By help of these concepts we formulate some dissipative conditions for FFDEs (1.1) and, under these conditions, we establish the global existence and uniqueness of a solution of functional fuzzy differential equations.
3 Fuzzy functional differential equations
For a positive number σ, we denote by the space , we denote by
the metric on the space . Define , . Then, for each , we denote by the element of defined by , .
Let us consider the fuzzy functional differential equation with the generalized Hukuhara derivative of the form
where , , and the symbol denotes the generalized Hukuhara derivative from Definition 2.2. By a solution to equation (3.1) we mean a fuzzy mapping that satisfies: for , x is differentiable on and for .
Lemma 3.1 (see [10])
Assume that and . Then the fuzzy mapping belongs to .
Remark 3.1 (see [10])
Under assumptions of the lemma above we have that the mapping is integrable over the interval I.
Remark 3.2 (see [10])
If is a jointly continuous function and , then the mapping is bounded on each compact interval I. Also, the function is bounded on I.
The following lemma is similar to the result proved in [10, 23, 26].
Lemma 3.2 The fuzzy functional differential equation (3.1) is equivalent to the following integral equation:
Two cases of existence of the generalized H-difference imply that the integral equation in Lemma 3.2 is actually a unified formulation for one of the integral equations
and
with ⊖ being the classical Hukuhara difference. Now, we consider and to be the solutions of equation (3.1) in [(i)-gH]-differentiability type and [(ii)-gH]-differentiability type, respectively, then by using Lemma 3.2 we have
Definition 3.1 Let be a fuzzy function which is [(i)-gH]-differentiable. If x and its derivative satisfy problem (3.1), we say that x is a (i)-solution of problem (3.1).
Definition 3.2 Let be a fuzzy function which is [(ii)-gH]-differentiable. If x and its derivative satisfy problem (3.1), we say that x is a (ii)-solution of problem (3.1).
3.1 Local existence
The following comparison principle is fundamental in investigation of the global existence of solutions of functional fuzzy differential equations.
Theorem 3.1 ([27])
Let and satisfy the inequality
where . Assume that is the maximal solution of the IVP
existing on . Then, if , we have , .
Let be a given constant, and let and . Let us consider the mappings and , where
Under the generalized Lipschitz condition we obtain the existence and uniqueness of two solutions to FFDE. To prove this assertion, we use an idea of successive approximations.
Theorem 3.2 Assume that
-
(i)
and , ;
-
(ii)
, and , , such that is nondecreasing on u, the IVP
(3.7)
has only the solution on I;
-
(iii)
, , and .
Then the following successive approximations given by
for the case of [(i)-gH]-differentiability, and
for the case of [(ii)-gH]-differentiability (where such that the sequence (3.9) is well defined, i.e., the foregoing Hukuhara differences do exist), converge uniformly to two unique solutions and of (3.1), respectively, on where .
Proof We prove that for the case of [(ii)-gH]-differentiability, the proof of the other case is similar. For , and , we have
provided , where , proving that is continuous on .
Similarly,
Thus, it is easily obtain that the successive approximations are continuous and satisfy the following relation:
Hence, . Observe also that the Hukuhara differences , exist and
Hence we infer that , for ().
Now, we define the following successive approximations of (3.7) for :
Then we get immediately
Hence, by the inductive method and in view that is nondecreasing on u, we get
As , the sequence is equicontinuous. Hence, we can conclude by the Ascoli-Arzela theorem and the monotonicity of the sequence that uniformly on and . Thus, and is the solution of initial value problem (3.7). From assumption (ii), we get . In addition, we have
and
Suppose and , then by assumption (iii), we get
Thus, by mathematical induction, we obtain: , , . Applying this property we have, for and for ,
Assume , then one can easily obtain
Further, we have, for small positive h,
Therefore, we obtain the Dini derivative of the function as follows:
Since uniformly converges to 0, then for arbitrary , there exists a natural number such that
From the fact that and by using Theorem 3.1, we have
where is the maximal solution to the following IVP for each n:
Due to Proposition 2.2 in [5] one can infer that converges uniformly to the maximal solution of (3.7) on as . Hence, by virtue of (3.9), we infer that converges uniformly to a continuous function . Note that is the desired solution to (3.1). Indeed, for every , we have
The summands in the last expression converge to 0. Due to Lemma 3.2 the function is the (ii)-solution to (3.1).
Now, we show the uniqueness of (ii)-solution of equation (3.1). Suppose that is another local (ii)-solution to (3.1) on the interval . Define , then and
Hence, by Theorem 3.1, we have for all , where is the maximal solution of IVP (3.7). Therefore , which completes the proof. □
Corollary 3.1 Let and suppose that satisfies the condition: there exists a constant such that for every it holds
Moreover, there exists such that .
Then the following successive approximations given by
for the case of [(i)-gH]-differentiability, and
for the case of [(ii)-gH]-differentiability, converge uniformly to two unique solutions and of (3.1), respectively, on where .
Proof The proof is obtained immediately by taking in Theorem 3.2, . □
3.2 Global existence
Next, we shall establish the global existence and uniqueness results for FFDE (3.1). For the global existence and uniqueness, we use the dissipative conditions which were introduced and studied in [11]. We now prove a comparison theorem, which is a useful tool in proving the global existence theorem.
Theorem 3.3 Assume that and for , , where . Let be the maximal solution of
for . Then, if , are any (ii)-solutions of FFDE (3.1) such that exist for , we have , provided that .
Proof Since ξ, ψ are solutions of FFDE (3.1) and [(ii)-gH]-differentiable, we have: for small enough, there exist the Hukuhara differences , . Now, for , set , we have
from which we get
Taking lim inf as yields
which together with the fact that and by Theorem 3.1 gives
The proof is complete. □
Remark 3.3 Under the assumptions of Theorem 3.3, satisfies , where . Then we obtain .
Theorem 3.4 Assume that , f maps bounded sets onto bounded sets and f satisfies the following dissipative condition: there exist a continuous function and such that
for every and with . Then the functional fuzzy differential equation (3.1) has a (ii)-solution on .
Proof For fixed, we consider the sets and , where and . Since f maps bounded sets onto bounded sets, we deduce that there exists such that for every . Therefore, there exists such that problem (3.1) has at least locally (ii)-solution on some intervals . Let
Then . Next, we define a partial order ≲ on as follows: if and only if and on . Then the standard application of Zorn’s lemma assures the existence of a maximal element z in . The proof is complete if we show that . Suppose that it is not true, so that .
Step 1: We show that there exists γ such that for every . Define . Using Corollary 3.2 (see [10]), we have
that implies
and so
Now, we consider the sets and . Then we have that
for every . On the other hand, since f maps bounded sets onto bounded sets, there exists such that
and so, by Theorem 3.2(i) (see [11]), it follows that
From (3.16), (3.17) we obtain that
and so (3.15) becomes
If we let , , then we have
By Gronwall’s lemma, from inequality (3.18) we obtain that
for every , where . Therefore, there exists such that on . We infer that for every .
Step 2: We show that is Lipschitzian on . Indeed, for all with , we have
Therefore has a continuous extension on . By continuity, we have
This implies that is a solution of (3.1) on . Further, we consider FFDE with the new initial function at
Then the last FFDE has a solution on , . If we define
then it is clear that is a solution of (3.1) on . This contradicts the maximality of and hence . □
Theorem 3.5 Assume that the assumptions of Theorem 3.4 hold. In addition, we assume that and for , , where , , and is only a solution of
for . Then the functional fuzzy differential equation (3.1) has a unique (ii)-solution.
Proof It is easy to prove this theorem with the result of Theorem 3.3. Indeed, let and be two solutions of (3.1) and (ii)-differentiable, we have: for small enough, there exist the Hukuhara differences , . Now, for , set and noting that , we get
and so, by the comparison theorem for ordinary delay differential equations, we obtain
where is the solution of (3.19) on . By assumption , we obtain on . The proof is complete. □
3.3 Illustrations
Let us consider again the fuzzy functional differential equation with the initial value condition
where . Let . By using Zadeh’s extension principle, we obtain
for . By using Lemma 2.2, we have the following two cases.
If is [(i)-gH]-differentiable, then and (3.20) is translated into the following functional differential system:
If is [(ii)-gH]-differentiable, then and (3.20) is translated into the following functional differential system:
Example 3.6 Let us consider the linear fuzzy functional differential equation under the generalized Hukuhara derivative
where , , . In this example we shall solve (3.23) on .
Case 1: Considering [(i)-gH]-differentiability, we translate problem (3.23) into the following fuzzy delay system:
Solving fuzzy delay system (3.24) by using the method of steps, we obtain a unique (i)-solution to (3.23) defined on and it is of the form
The (i)-solution is illustrated in Figure 1.
Case 2: Considering [(ii)-gH]-differentiability, we translate problem (3.23) into the following fuzzy delay system:
We obtain a unique (ii)-solution to (3.23) defined on and it is of the form
The (ii)-solution is illustrated in Figure 2.
4 Sheaf fuzzy functional differential equations
Let us consider again the sheaf initial value problem (SIVP) for a fuzzy functional differential equation (FDE) under the generalized Hukuhara derivative as follows:
where , .
Definition 4.1 The sheaf solution (or sheaf trajectory) of (4.1) under the generalized Hukuhara derivative gives at the time t a set
where is a solution of (4.1) for each . We consider and to be sheaf solutions of equation (4.1) in [(i)-gH]-differentiability type and [(ii)-gH]-differentiability type, respectively, then by using Lemma 3.2, we have
System (4.1) with its sheaf solutions is called a sheaf fuzzy problem. Suppose that . Here are some useful notations:
-
(i)
;
-
(ii)
;
-
(iii)
.
Definition 4.2 Let be a fuzzy sheaf which is [(i)-gH]-differentiable (i.e., [(i)-gH]-differentiable for each ). If x and its derivative satisfy problem (4.1) for each , we say that is a (i)-sheaf solution of problem (4.1).
Definition 4.3 Let be a fuzzy sheaf such that [(i)-gH]-differentiable (i.e., [(i)-gH]-differentiable for each ). If x and its derivative satisfy problem (4.1) for each , we say that is a (ii)-sheaf solution of problem (4.1).
Definition 4.4 A sheaf local solution is unique if for any , that is, a sheaf local solution to (4.1) on I.
In Section 3, under the generalized Lipschitz condition and dissipative condition, we proved the existence and uniqueness of the solution to both kinds of FFDE (3.1). In this section, we prove the existence and uniqueness of a sheaf solution to both kinds of sheaf fuzzy functional differential equation (SFFDE) (4.1) by using the results in Section 3.
Corollary 4.1 Let and suppose that satisfies the condition: there exists a constant such that for every it holds
Moreover, there exists such that . Then problem (4.1) has a unique sheaf solution for each case ([(i)-gH]-differentiable or [(ii)-gH]-differentiable type) on , where .
Proof We prove the case of [(ii)-gH]-differentiability, the proof of the other case being similar. From the assumptions of this corollary and the result of Corollary 3.1, there exists at least locally (ii)-solution for (4.1) for each on , where . Therefore is nonempty for every . Now, we show that this (ii)-sheaf solution is unique. Indeed, let us assume that , are two solutions of (4.1). By definition of the solution we have if . Note that for ,
If we let , and apply the Gronwall inequality, we obtain a more traditional estimation of the distance between two (ii)-sheaf solutions and . Namely,
Therefore . This proof is complete. □
Example 4.1 Let us consider the linear sheaf fuzzy functional differential equation under two kinds of the Hukuhara derivative
where , , , . In this example, we shall solve (4.4) on .
Case 1: Considering [(i)-gH]-differentiability, we translate problem (4.4) into the following fuzzy delay system:
Solving fuzzy delay system (4.5) by using the method of steps, we obtain a unique (i)-sheaf solution to (4.4) defined on and it is of the form
The (i)-sheaf solution is illustrated in Figure 3.
Case 2: Considering [(ii)-gH]-differentiability, we translate problem (3.23) into the following fuzzy delay system:
We obtain a unique (ii)-sheaf solution to (4.4) defined on and it is of the form
The (ii)-sheaf solution is illustrated in Figure 4.
Suppose . We say that if and only if , and , . We can also define the fuzzy interval . Letting be two functions, we say that if for . Moreover, we define .
Example 4.2 Let us consider the linear sheaf fuzzy functional differential equation under two kinds of the Hukuhara derivative
where , , , , , . In this example, we shall solve (4.4) on .
One can obtain the (i)-sheaf solution and (i)-sheaf solution by using the methods as in the above examples.
The (i)-sheaf solution to (4.7) is defined on and it is of the form
The (ii)-sheaf solution to (4.7) is defined on and it is of the form
In Figures 5 and 6, (i)-sheaf solution and (ii)-sheaf solution curves of (4.7) are given.
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Acknowledgements
The authors would like to express their gratitude to the anonymous referees for their helpful comments and suggestions, which have greatly improved the paper. This research is funded by the Foundation for Science and Technology Development of Ton Duc Thang University (FOSTECT), website: http://fostect.tdt.edu.vn.
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Tri, P.V., Hoa, N.V. & Phu, N.D. Sheaf fuzzy problems for functional differential equations. Adv Differ Equ 2014, 156 (2014). https://doi.org/10.1186/1687-1847-2014-156
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DOI: https://doi.org/10.1186/1687-1847-2014-156