Professional Documents
Culture Documents
Abstract
Improvement in some aspect of ecology and financial mathematics is strongly dependent on the analytical solution of
Bagley-Torvik equations. The aim of this manuscript is to find the analytical solution of Bagley-Torvik equations which
belongs to a class of fractional differential equation by the use of Sumudu transformation method (STM). Here the frac-
tional derivatives are well-defined in Caputo sense. First, some fundamental properties of STM are given, and then STM
is applied to the Bagley-Torvik equation which gives an exact solution. The proposed method is an easy, highly efficient
and robust method for finding the exact solution.
Received: 7 January 2019 / Accepted: 12 February 2019 / Published online: 20 February 2019
Vol.:(0123456789)
Research Article SN Applied Sciences (2019) 1:246 | https://doi.org/10.1007/s42452-019-0259-0
has been implemented for solving fractional order Bagley- Definition 2.3 The operator D𝛼 of order 𝛼 in the Caputo
Torvik equation. sense is defined in Podlubny [9] and Chakraverty et al. [26]
In this paper, the following type of Bagley-Torvik equa- as
tion is considered
∫
⎧ x
{ d 2 u(x) ⎪ 1 um (t)
dt, m − 1 < 𝛼 < m,
m dx 2 + cD𝛼 u(x) + ku(x) = f (x), 1 3 C 𝛼
D u(x) = ⎨ 𝛤 (m−𝛼)
0
(x−t)𝛼−m+1 . (7)
| where 𝛼 = or
⎪ dm
u(0) = 𝛿0 , du(x) |
dx |x=0
= 𝛿 1 . 2 2
⎩ dt m
u(x), 𝛼=m
(1)
where m, c, k, f(x) and u(x) denote the mass, damping, stiff- Definition 2.4 Podlubny [9]
ness coefficients, external force, and displacement func-
𝛼
tion, respectively. ddx u𝛼 is the FD of order 𝛼 ∈ (0, 2) . Here 𝛿0 (a) Dt𝛼 Jt𝛼 f (t) = f (t) (8)
and 𝛿1 are real constants.
(b) ∑m
( ) tk
The rest of the manuscript are arranged as follows: Jt𝛼 Dt𝛼 f (t) = f (t) − f (k) 0+ ,
some essential definitions related to fractional calculus k!
for t > 0 and m − 1 < 𝛼 ≤ m, m ∈ N.
k=0
are included in Sect. 2. Some basic features and theorems
of STM are presented in Sect. 3. In Sect. 4, STM is applied to
Bagley-Torvik Equation. Finally, a conclusion is illustrated
in Sect. 6. 3 Basic properties of STM
∫
𝛼 x
D u(x) = ⎨ 1 d u(t) (2) Theorem 1 If F(u) is the ST of y(t), then the ST of nth order
⎪ dt, m−1<𝛼 <m
⎩
𝛤 (m−𝛼) dx m
0
(x−t)𝛼−m+1 derivative is defined in Belgacem et al. [27] as follows
[ n ] [ | ]
∑
n−1 k |
where m ∈ Z + ,𝛼 ∈ R+ and d −n k d y(t) |
S y(t) = u F(u) − u . (10)
dt n dt ||
k
k=0 |t=0
x
0 < 𝛼 ≤ 1.
dy(t) d 2 y(t)
By using Theorem 1, the ST of and dt 2 are given by
𝛤 (𝛼) �
1
D−𝛼 u(x) = (x − t)𝛼−1 u(t)dt, (3) dt
0 [ ]
d 1 1
Definition 2.2 The A–R fractional order integration opera-
S y(t) = F(u) − y(0), (11)
dt u u
tor J 𝛼 is described as
[ ] [ ]
x d 2 y(t) 1 dy(t) ||
S = F(u) − y(0) − u . (12)
dt ||t=0
𝛤 (𝛼) ∫
1 dt 2 u2
J 𝛼 u(x) = (x − t)𝛼−1 u(t)dt, t > 0, 𝛼 > 0 (4)
0
Theorem 2 The ST of Caputo fractional derivative is well-
following Podlubny [9] we may have defined in Chaurasia and Singh [28] as
𝛤 (n + 1) n+𝛼
u−𝛼+k y k (0), m − 1 < 𝛼 ≤ m.
J𝛼 tn = t (5) [ ] [ ∑
] m−1
𝛤 (n + 𝛼 + 1) S Dt𝛼 y(t) = u−𝛼 S y(t) −
k=0
𝛤 (n + 1) n−𝛼 (13)
D𝛼 t n = t . (6)
𝛤 (n − 𝛼 + 1)
Vol:.(1234567890)
SN Applied Sciences (2019) 1:246 | https://doi.org/10.1007/s42452-019-0259-0 Research Article
4 STM implementation to Bagley‑Torvik Applying ST on both sides of Eq. (18) with the initial
equations condition, we get
−3 −1 1
In this section, STM is implemented to Bagley-Torvik equa- u 2 [F(u)] + u 2 + F(u) = 2u 2 + 2u2 − u,
tions of fractional order in the following examples. ( −3
) 1 −1
F(u) 1 + u 2 = 2u 2 + 2u2 − u − u 2 , (19)
Example 1 Let us take following Bagley-Torvik equation ⇒ F(u) = 2u2 − u.
given by Pedas and Tamme [29]
Taking inverse ST of Eq. (19) and from the table in Bel-
� � �
√ √ √ gacem and Karaballi [30], we get
t ≥ 0.
3
15 15
y (2) (t) + y 2 (t) + y(t) = 4
t+ 8
𝜋t + t 2 t,
y(0) = y (1) (0) = 0. y(t) = t 2 − t. (20)
(14) This is the analytical result of Eq. (18).
First, by taking ST of both sides of Eq. (14), we get
� �3� � � √� � √ � � √�
� � � � 15 15
S y (2) (t) + S y 2 (t) + S y(t) = S t +S 𝜋t + S t 2 t .
4 8
⎧ 3 1
2t 2 2
⎪ y 2 (t) + y(t) = 𝛤 � 3 � + t − t,
⎨ (18)
⎪ y(0) = 0, dy(t) �� = −1, t ≥ 0.
2
⎩ dt �t=0 f
Vol.:(0123456789)
Research Article SN Applied Sciences (2019) 1:246 | https://doi.org/10.1007/s42452-019-0259-0
(a) (b)
(c) (d)
Fig. 2 Comparison of the present method with the existing methods a Example 1, b Example 2, c Example 3, d Example 4
� �
F(u) −1 3 3 ⎧ 1
2
+ u 2 F(u) + F(u) = 2u2 + 2 + × 2.6666666667 × u 2 , ⎪ y (2) (t) + y 2 (t) + y(t) = t 3 + 6t + 3.2t 2.5
,
u 4
⎪ y(0) = dt ��t=0 = 0, t ≥ 0.
( 3
) ⎨ dy(t) �
𝛤 (0.5) (24)
2
1 + u + u2 3
F(u) 2
= 2u2 + 2 + 2u 2 , ⎩
u
⇒ F(u) = 2u2 . Taking ST on both sides of Eq. (24) and initial condition,
(22) the subsequent equation is obtained as
Applying inverse ST to Eq. (22) and using the table in Bel- ( )
3
( )
gacem and Karaballi [30], we find the analytical solution of 1 + u2 + u 2 3
5
F(u) = 6 u + u + u 2 ,
Eq. (22) as follows u2 (25)
⇒ F(u) = 6u3 .
y(t) = t 2 (23)
Example 4 Finally, let us take the Bagley-Torvik equation in Applying inverse ST to Eq. (25) and from the table in
Ford and Connolly [34] Belgacem and Karaballi [30], we have
y(t) = t 3 . (26)
which is the exact solution of Eq. (24).
Vol:.(1234567890)
SN Applied Sciences (2019) 1:246 | https://doi.org/10.1007/s42452-019-0259-0 Research Article
5 Conclusion References
In this paper, STM is successfully applied to solve Bagley- 1. Deng R, Davies P, Bajaj AK (2004) A case study on the use of frac-
tional derivatives: the low frequency viscoelastic uni-directional
Torvik equations. Four examples are solved by STM behavior of polyurethane foam. Nonlinear Dyn 38:247–265
which show that it is a very useful and highly effective 2. Rossikhin YA, Shitikova MV (2004) Analysis of the viscoelastic rod
technique in term of yielding an analytical solution. Due dynamics via models involving fractional derivatives or opera-
to its properties, it is mostly used for solving a different tors of two different orders. Shock Vib Dig 36(1):3–26
3. Agrawal OP (2004) Analytical solution for stochastic
kind of linear and nonlinear fractional differential equa- response of a fractionally damped beam. ASME J Vib Acoust
tion for finding the exact solution. 126(4):561–566
4. Jena RM, Chakraverty S (2019) A new iterative method based
Acknowledgements The first author would like to thank Department solution for fractional Black-Scholes option pricing equations
of Science and Technology, Government of India for giving INSPIRE (BSOPE). SN Appl Sci 1(1):95
fellowship (IF170207) to carry out the present work. 5. Shah NA, Hajizadeh A, Zeb M, Ahmad S, Mahsud Y, Animasaun IL
(2018) Effect of magnetic field on double convection flow of vis-
cous fluid over a moving vertical plate with constant tempera-
Compliance with ethical standards ture and general concentration by using new trend of fractional
derivative. Open J Math Sci 2:253–265
Conflict of interest All authors declare that they have no conflict of 6. Shah NA, Elnaqeeb T, Animasaun IL, Mahsud Y (2018) Insight into
interest. the natural convection flow through a vertical cylinder using
caputo time-fractional derivatives. Int J Appl Comput Math
4:80–99
Appendix 7. Miller KS, Ross B (1993) An introduction to the fractional calculus
and fractional differential equations. Wiley, New York
8. Oldham KB, Spanier J (1974) The fractional calculus. Academic
See Table 1. Press, New York
9. Podlubny I (1999) Fractional differential equations. Academic
Press, New York
Table 1 Sumudu transform of some special functions by Katatbeh
10. Wu Y, He JH (2018) Homotopy perturbation method for nonlin-
and Belgacem [25]
ear oscillators with coordinate dependent mass. Results Phys
n 𝜓(t) S(𝜓(t)) = f (u) 10:270–271
11. Jena RM, Chakraverty S (2019) Solving time-fractional Navier-
(Original function) (Transformed function)
Stokes equations using homotopy perturbation Elzaki trans-
1 1 1 form. SN Appl Sci 1(1):16
12. Momani S, Odibat Z (2006) Analytical solution of a time-frac-
2 t u
tional Navier-Stokes equation by Adomian decomposition
3 t n−1
, n>0 un−1 method. Appl Math Comput 177:488–494
𝛤 (n)
4 at 1 13. Yavuz M, Ozdemir N (2018) A quantitative approach to fractional
e
1−au option pricing problems with decomposition series. Konuralp J
5 t n−1 eat un−1
Math 6(1):102–109
𝛤 (n) (1−au)n
14. Edeki SO, Motsepa T, Khalique CM, Akinlabi GO (2018) The Greek
6 sin (at) u
1+u2 parameters of a continuous arithmetic Asian option pricing
7 cos (at) 1
model via Laplace Adomian decomposition method. Open Phys
1+u2
8 sin (at) u 16:780–785
a 1+a2 u2
15. Watugala GK (1993) Sumudu transform: a new integral trans-
9 ebt sin (at) u
form to solve differential equations and control engineering
a (1−bu)2 +a2 u2
10 bt
e cos (at) 1−bu problems. Int J Math Educ Sci Technol 24(1):35–43
(1−bu)2 +a2 u2 16. Watugala GK (1998) Sumudu transform—a new integral trans-
11 sin h(at) u
form to solve differential equations and control engineering
a 1−a2 u2
12 cos h(at) 1 problems. Math Eng Ind 6(4):319–329
1−a2 u2 17. Watugala GK (2002) The Sumudu transform for functions of two
13 J0 (at) (Bessel function) √
1
2 2 variables. Math Eng Ind 8(4):293–302
�√ � √1+a u 18. Weerakoon S (1994) Application of Sumudu transform to partial
14 erf t u
(Error function) 1+u differential equations. Int J Math Educ Sci Technol 25(2):277–283
15 Si(t) (Sine integral) 19. Weerakoon S (1998) Complex inversion formula for Sumudu
tan−1 u
( 2) transform. Int J Math Educ Sci Technol 29(4):618–621
16 Ci(t) (Cosine integral) 1
loge 1+u 20. Deakin MAB (1997) The Sumudu transform” and the Laplace
2 u2
( ) transform. Int J Math Educ Sci Technol 28(1):159–160
17 Ei(t) (Exponential integral) loge 1+u 21. Weerakoon S (1997) The Sumudu transform and the Laplace
u
transform—reply. Int J Math Educ Sci Technol 28(1):160
18 u(t − a) (Unit step function) e− u
a
22. Asiru MA (2001) Sumudu transform and the solution of inte-
gral equations of convolution type. Int J Math Educ Sci Technol
19 𝛿(t − a) (Dirac delta function) 1 −a
e u
u 32(6):906–910
20 N(t) (Null function) 0
Vol.:(0123456789)
Research Article SN Applied Sciences (2019) 1:246 | https://doi.org/10.1007/s42452-019-0259-0
23. Asiru MA (2002) Further properties of the Sumudu transform 30. Belgacem FBM, Karaballi AA (2006) Sumudu transform funda-
and its applications. Int J Math Educ Sci Technol 33(3):441–449 mental properties investigations and applications. J Appl Math
24. Asiru MA (2003) Application of the Sumudu transform to discrete Stoch Anal 2006:23
dynamical systems. Int J Math Educ Sci Technol 34(6):944–949 31. Parisa R, Yadollah O (2018) Application of Müntz-Legendre
25. Katatbeh QD, Belgacem FBM (2011) Applications of the Sumudu polynomials for solving the Bagley-Torvik equation in a large
transform to fractional differential equations. Nonlinear Stud interval. seMA 75:517–533
18(1):99–112 32. Mohammadi F, Mohyud-Din ST (2016) A fractional-order Leg-
26. Chakraverty S, Tapaswini S, Behera D (2016) Fuzzy arbitrary endre collocation method for solving the Bagley-Torvik equa-
order system: fuzzy fractional differential equations and appli- tions. Adv Differ Equ 2016:269–283
cations. Wiley, New York 33. Gülsu M, Öztürk Y, Anapali A (2017) Numerical solution the frac-
27. Belgacem FBM, Karaballi AA, Kalla SL (2003) Analytical investi- tional Bagley-Torvik equation arising in fluid mechanics. Int J
gations of the Sumudu transform and applications to integral Comput Math 94(1):173–184
production equations. Math Probl Eng 2003(3):103–118 34. Ford NJ, Connolly JA (2009) Systems-based decomposition
28. Chaurasia VBL, Singh J (2010) Application of Sumudu transform schemes for the approximate solution of multi-term fractional
in Schödinger equation occurring in quantum mechanics. Appl differential equations. J Comput Appl Math 229:382–391
Math Sci 4(57):2843–2850
29. Pedas A, Tamme E (2011) On the convergence of spline collo- Publisher’s Note Springer Nature remains neutral with regard to
cation methods for solving fractional differential equations. J jurisdictional claims in published maps and institutional affiliations.
Comput Appl Math 235:3502–3514
Vol:.(1234567890)