Applied Mathematics and Computation 275 (2016) 7280

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Applied Mathematics and Computation

journal homepage: www.elsevier.com/locate/amc

SCW method for solving the fractional integro-differential

equations with a weakly singular kernel
Yanxin Wang a,, Li Zhu b
a
b

School of Science, Ningbo University of Technology, 315211 Ningbo, China

School of Applied Mathematics, Xiamen University of Technology, 361024 Xiamen, China

a r t i c l e

i n f o

Keywords:
Weakly singular integro-differential
equations
SCW
Operational matrix
Block pulse functions
Fractional calculus

a b s t r a c t
In this paper, based on the second Chebyshev wavelets (SCW) operational matrix of fractional
order integration, a numerical method for solving a class of fractional integro-differential
equations with a weakly singular kernel is proposed. By using the operational matrix, the
fractional integro-differential equations with weakly singular kernel are transformed into a
system of algebraic equations. The upper bound of the error of the second Chebyshev wavelets
expansion is investigated. Finally, some numerical examples are shown to illustrate the eciency and accuracy of the approach.
2015 Elsevier Inc. All rights reserved.

1. Introduction
In recent years, fractional calculus has attracted many researchers successfully in different disciplines of science and engineering. The advantage of this subject is that fractional derivative and integral are not a local property. Fractional differential equations
and fractional integral equations are used to model a lot of practical problems, such as the eld of electromagnetic waves, viscoelasticity, dielectric polarization and diffusion equations [1,2]. Fractional integro-differential equations with a weakly singular
kernel have many applications in various areas. These equations appear in the radiative equilibrium [3], heat conduction problem
[4], elasticity and fracture mechanics [5] and so on.
There have been several numerical methods for the fractional integro-differential equations. For instance, Taylor expansion
method [6], homotopy analysis method [7], hybrid collocation method [8], the variational iteration method [9], reproducing
kernel method [10], pseudo spectral method [11] and wavelet methods [1215]. However, only a few methods are proposed to
solve the fractional integro-differential equations with a weakly singular kernel [16].
Wavelet analysis plays a prominent role in different areas of mathematics and engineering. Wavelets permit the accurate
representation of a variety of functions and operators, and establish a connection with fast numerical algorithms [17]. The
wavelets have been used in the solution of all kinds of equations. Using wavelet numerical method has several advantages:
(a) The main advantage is that after discreting the coecient matrix of algebraic equation is sparsity; (b) The wavelet method
is computer oriented, thus solving higher order equation becomes a matter of dimension increasing; (c) The solution is a
multi-resolution type; (d) The solution is convergence, even the size of increment may be large. Furthermore, SCW have
been used to approximate the solution the integral equations of the second kind [18], fractional differential equations [19,20],
fractional integro-differential equations [13,14], weakly singular Volterra integral equations [21] and the calculus of variations

Corresponding author. Tel.: +86 15258396709.

E-mail addresses: wyxinbj@163.com (Y. Wang), zhulwhu@163.com (L. Zhu).

http://dx.doi.org/10.1016/j.amc.2015.11.057
0096-3003/ 2015 Elsevier Inc. All rights reserved.

Y. Wang, L. Zhu / Applied Mathematics and Computation 275 (2016) 7280

73

question [22]. The main objective of the present paper is solving the fractional integro-differential equations with a weakly
singular kernel base on SCW operational matrix.
The structure of this paper is as follows: In Section 2, SCW are introduced, the convergence of SCW is given. The SCW operational matrix of fractional integration is introduced in Section 3. In Section 4, we summarize the process of solving the fractional
integro-differential equations with a weakly singular kernel based on the SCW operational matrix method. The upper bound
of the error of the SCW expansion is proposed in Section 5. Several examples are provided to clarify the approach in Section 6.
Concluding remarks are given in the last section.
2. The SCW and their properties
The SCW which dened on the interval [0, 1) have the following form [14,19]:

2 2k U (2kt 2n + 1 ),
m
nm (t ) =
0,

n1
n
 t < k1 ,
2k1
2
otherwise,

m (t ) =
where n = 1, . . . , 2k1 and k is any positive integer, and U

(1)

Um (t ), here the coecient

2

2/ is used for orthonormality;

Um (t) is the second Chebyshev polynomials of degree m which respect to the weight function (t ) =
on the interval [1, 1] by the recurrence:

1 t 2 . They are dened

U0 (t ) = 1, U1 (t ) = 2t, Um+1 (t ) = 2tUm (t ) Um1 (t ), m = 1, 2, . . .

The weight function
(t ) = (2t 1 ) has to be dilated and translated as n (t ) = (2k t 2n + 1 ).
A function f(t) dened over [0,1], may be expressed in terms of the SCW as

f (t ) =




cnm nm (t ),

n=0 mZ

where the coecients cnm are given by

cnm = ( f (t ), nm (t ))n =

n (t )nm (t ) f (t ) dt.

We can approximate the function f(t) by the truncated series

k1

f (t ) 

M1
2



cnm nm (t ) = C T (t ),

(2)

n=1 m=0

where the coecient vector C and SCW function vector  (t) are given by

C = [c10 , c11 , . . . , c1(M1) , c20 , . . . , c2(M1) , . . . , c2k1 0 , . . . , c2k1 (M1) ]T ,

(3)

(t ) = [10 , 11 , . . . , 1(M1) , 20 , . . . , 2(M1) , . . . , 2k1 0 , . . . , 2k1 (M1) ]T .

(4)

Taking the collocation points as following

ti =

2i 1
, i = 1, 2, . . . , 2k1 M.
2k M

(5)

We dene the SCW matrix m m as

m m


 


1
2m 1
= 
, 
,...,
,



2m

2m

2m

where m = 2k1 M.
Also, a function k(t, s ) L2n ([0, 1] [0, 1] ) can be approximated as

k(t, s ) = (t )T K (s ),

(6)

where K is
matrix with ki j = (i (t ), (k(t, s ), j (s ))). We use the wavelet collocation method to determine the
coecients kij . Taking collocation points as Eq. (5), we obtain the matrix form of Eq. (6)
2k1 M

2k1 M

U = Tm m K m m ,
where K = [ki j ]m m , U = [k(ti , s j )]m m .
We investigate the convergence of the SCW expansion in the following lemma.

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Y. Wang, L. Zhu / Applied Mathematics and Computation 275 (2016) 7280



Lemma 2.1 [20]. A square-integrable function with bounded second-order derivative, say f (t ) dened on [0, 1], is with bounded

can be expanded as an innite sum of the second Chebyshev wavelets, and the series converges
second derivative, say | f (t )| M,
uniformly to the function f(t), that is

f (t ) =

cnm nm (t ),

n=0 m=0

where the coecients cnm are given by cnm = ( f (t ), nm (t ))n and (, )n is the inner product of f(t) and nm (t).
3. Operational matrix of the fractional integration
3.1. Fractional calculus
Before we introduce the SCW operational matrix of the fractional integration, we rst review some basic denitions of fractional calculus, which have been given in [23,24].
Denition 3.1. The RiemannLiouville fractional integral operator J of order is given by

1  t (t )1 f ( )d ,

J f (t ) = ( ) 0
f (t ),

> 0, t > 0,

(7)

= 0.

The properties of the operator J are given as follows:

(i)
(ii)
(iii)

J J f (t ) = J + f (t );
J J f (t ) = J + f (t );
J t = (( + 1 )/( + + 1 ))t + .

Denition 3.2. The Caputo denition of fractional differential operator is given by

r
d f (t )

dt r ,

D f (t ) =

= r N,


1
(r )

t
0

f (r ) ( )
d ,
(t )r+1

(8)

0 r 1 < < r.

(r ) Dr f (t ), where Dr is the usual integer differential operThe Caputo fractional derivatives of order is also dened as D
f (t ) = J
ator of order r. The relation between the RiemannLiouville operator and Caputo operator is given by the following expressions:

D J f (t ) = f (t ),
J D f (t ) = f (t )

(9)
r1


f ( k ) ( 0+ )

k=0

tk
, t > 0.
k!

(10)

3.2. SCW operational matrix of the fractional integration

In this part, we simply introduce the SCW operational matrix of the fractional integration, more detailed introduction can be
found in [14,19].
Now we give the denition of block pulse functions (BPFs): an mset of BPFs on [0, 1) is dened as

bi (t ) =

1,

i/m  t < (i + 1 )/m,

0,

otherwise,

(11)

where i = 0, 1, 2, . . . , m 1. The BPFs have disjointness and orthogonality as following:

bi (t )b j (t ) =

0,

i = j,

bi (t ),

i = j,

and


0


bi ( )b j ( )d =

0,

i = j,

1/m,

i = j,

The block pulse operational matrix of the fractional integration F has been given in [25],

J (Bm (t )) F Bm (t ),

(12)

Y. Wang, L. Zhu / Applied Mathematics and Computation 275 (2016) 7280

where

1
1

.
F = 
m ( + 2 )
..

0
0

2
1

3
2
1

..
.

..

..

m 1
m 2
m 3

..

..
.

75

(13)

and

k = (k + 1 )+1 2k+1 + (k 1 )+1 .

Note that for = 1, F is BPFs operational matrix of integration.
There is a relation between BPFs and SCW, namely

m (t ) = m m Bm (t ).

(14)

If J is the fractional integration operator of SCW, we can get

J (m (t )) Pm m m (t ),

(15)

where matrix Pm
 m is called SCW operational matrix of the fractional integration [13,14]. Using Eqs. (12) and (14), we have

J (m (t )) J (m m Bm (t )) = m m J (Bm (t )) m m F Bm (t ).

(16)

From Eqs. (15) and (16) we can get

Pm m m (t ) = Pm m m m Bm (t ) = m m F Bm (t ).

Then, the matrix P

m m

m m

(17)

is given by

= m m F 1
.
m m

(18)

4. Solving fractional integro-differential equations with weakly singular kernel

Consider the fractional integro-differential equations with a weakly singular kernel:

D y(t ) = 1

t
0

y (s )
ds + 2
( x t )

1
0

k(t, s )y(s )ds + f (t ),

(19)

subject to initial condition

y(0 ) = 0,

(20)

k(t, s) and f(t) are known and 1 , 2 are real constants. Here, 0 < , < 1
where y(t) is an unknown function,
and D
denotes the Caputo fractional order derivative of order . The different values of 1 , 2 , , determine the type of the
equation. In the case when = 1, = 0, this equation is offered as the linear integro-differential equation. Particularly, if = 0
and 2 = 0, we have the Abel integral equation:
L2 -functions

y(t ) = 1

y (s )
ds + f (t ).
( x t )

The treatment of Eq. (19) is complicated at 0 < < 1, because the solutions of weakly singular fractional integro-differential
equation are well known to have a weak singularity at t = 0, even when the inhomogeneous term f(t) is smooth.
Now we approximate D
y (t ), f(t) and k(t, s) in terms of SCW as follows

D y(t ) C T (t ),

(21)

f (t ) F T (t ),

(22)

k(t, s ) (t )T K (s ),

(23)

and
where K is 2k1 M 2k1 M matrix with ki j = (i (x ), (k(x, t ), j (t ))). From Eqs. (10), (15) and (21), we obtain

y(t ) = J D y(t ) J (C T (t )) = C T J ((t )) = C T P (t ).

Then there is

t
0

y (s )
ds = C T P
(t s )

t
0

(s )
ds = (1 )C T P P 1 (t ).
(t s )

(24)

(25)

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Y. Wang, L. Zhu / Applied Mathematics and Computation 275 (2016) 7280

1

From Eqs. (23), (24) and


0

k(t, s )y(s )ds =

(s )(s )T ds = D (D is a m m matrix), we have

(t )T K (s )(s )T P TCdt

= (t )T KDP C
T

= C T P DT K T (t ).

(26)

By substituting Eqs. (21), (25) and (26) into Eq. (19), we obtain

C T (t ) = 1 (1 )C T P P 1 (t ) + 2C T P DT K T (t ) + F T (t ).

(27)

Substituting Eq. (14) into Eq. (27), we have

C T m m Bm (t ) = 1 (1 )C T P P 1 m m Bm (t ) + 2C T P DT K T m m Bm (t ) + F T m m Bm (t ).

(28)

Dispersing Eq. (28), we obtain

C T m m = 1 (1 )C T P P 1 m m + 2C T P DT K T m m + F T m m .

(29)

By solving this system we can obtain the approximate solution of Eq. (19) according to Eq. (24).
5. Error analysis
T
In this section, in order to illustrate the effectiveness of D
y (t ) C (t ) in Eq. (21), we have given the following theorem.
y(t ):
Let D
y
(
t
)
is
the
following
approximation
of
D
k,M

k1

D yk,M (t ) =

M1
2



cnm nm (t ),

n=1 m=0

+

then we have D
y (t ) D yk,M (t ) =

n=2k1 +1

+

m=M cnm nm (t ).

Theorem 5.1. Suppose that the function D

yk,M (t ) obtained by using SCW are the approximation of D y (t ), and D y (t ) is with
+2 y (t )| M

for
some
constant
M,
then
we
have
the
following
upper
bound
of
error
bounded second derivative, say |D

D y(t ) D yk,M (t )
E
where
y(t )
E = (

1
0

23

+


n=2k1 +1

+
1 
1
4
n5
m=M (m 1 )

 12

y2 (t )n (t ) dt ) 2 .

Proof. The proof is similar to that of the theorem 1 in [20], so it is omitted here. 
6. Numerical examples
To show the eciency and the accuracy of the proposed method, we consider the following four examples.
Example 1. Consider the following fractional order integro-differential equation with weakly singular kernel [16]

D0.25 y(t ) =

1
2

1
y (s )
ds +
3
(t s )1/2

1
0

(t s )y(s )ds + f (t ),

(30)

with the condition y(0 ) = 0. The exact solution of this equation is y(t ) = t 2 + t 3 . In this problem

f (t ) =

(3 ) 1.75
(4 ) 2.75
t
+
t

(2.75 )
(3.75 )

3
(3 )t 5/2
(4 )t 7/2 7t

+
.
2(7/2 )
2(9/2 )
36
20

We apply SCW approach to solve Eq. (30) with various values of k. Table 1 shows the absolute errors obtained by SCW and CAS
wavelets (m = 2k (2M + 1 )) respectively. The comparisons between the numerical solutions and the exact solution for M = 3
and some k are given in Fig. 1.
Table 1 shows that the absolute errors become smaller and smaller with k increasing. From Table 1, we nd that the SCW
method can reach a higher degree of accuracy than the CAS wavelets method. From Fig. 1, we can see clearly that the numerical
solution are more and more close to the exact solution when k increases.
Example 2. Consider this equation [16]

D0.15 y(t ) =

1
4

t
0

1
y (s )
ds +
7
(t s )1/2


0

et+s y(s )ds + f (t ),

(31)

Y. Wang, L. Zhu / Applied Mathematics and Computation 275 (2016) 7280

77

Table 1
The absolute errors of different k and M = 3 for Example 1.
t

SCW
k=2

CAS
m = 6

SCW
k=3

CAS
m = 12

SCW
k=4

CAS
m = 24

0
1/6
2/6
3/6
4/6
5/6

8.3542e-03
1.2599e-03
9.3654e-03
2.2406e-02
1.9585e-02
3.2596e-02

3.0586e-02
4.4076e-02
3.8707e-02
1.5703e-02
2.8551e-02
9.8881e-02

1.0620e-03
1.1189e-03
1.8879e-03
4.7945e-03
5.9543e-03
8.0256e-03

1.4328e-02
2.2762e-02
1.9409e-02
6.4173e-03
1.8012e-02
5.6450e-02

1.4395e-04
2.2617e-04
5.9826e-04
1.1274e-03
1.4961e-03
2.2056e-03

6.3491e-03
1.1460e-02
9.6982e-03
2.9504e-03
9.6733e-03
2.9484e-02

k=2,M=3

k=3,M=3

1.8

k=4,M=3

2
Numerical solution
Exact solution

1.6

2
Numerical solution
Exact solution

1.8

1.4

Numerical solution
Exact solution

1.8

1.6

1.6

1.4

1.4

1.2

1.2

1.2

y(t)

y(t)

y(t)

1
1

0.8
0.8

0.8

0.6

0.6

0.4

0.4

0.2

0.2

0.6

0.4

0.2

0.5
t

0.5
t

0.5
t

Fig. 1. Comparisons of numerical solutions and exact solution of Example 1 for different k.

Table 2
The numerical solutions at different points for different k for Example 2.
SCW
k=2

CAS
m = 6

SCW
k=3

CAS
m = 12

SCW
k=4

CAS
m = 24

Exact solution

t
0
1/6
2/6
3/6
4/6
5/6

1.5509e-02
1.4412e-01
2.2290e-01
2.4994e-01
2.2128e-01
1.3718e-01

6.1480e-03
1.1115e-01
1.8713e-01
2.1160e-01
1.8346e-01
1.0222e-01

7.2939e-03
1.3954e-01
2.2252e-01
2.4997e-01
2.2196e-01
1.3843e-01

2.3540e-03
1.2653e-01
2.0680e-01
2.3341e-01
2.0590e-01
1.2407e-01

3.4910e-03
1.3912e-01
2.2230e-01
2.4999e-01
2.2216e-01
1.3878e-01

9.0900e-04
1.3345e-01
2.1534e-01
2.4266e-01
2.1514e-01
1.3269e-01

0
1.3889e-01
2.2222e-01
2.5000e-01
2.2222e-01
1.3889e-01

3 ) 1.85
2 ) 0.85
(3 )t
(2 )t
such that y(0 ) = 0, f (t ) = ((
t
((
t
4(
+ 4(
e 73e . The exact solution is y(t ) = t 2 t.
2.85 )
1.85 )
7/2 )
5/2 )
Table 2 shows the numerical solutions by using the SCW and CAS wavelets, respectively. The comparisons of exact solution and
numerical solutions for various k are shown in Fig. 2. From Table 2 and Fig. 2 we infer that the approximate solutions converge
to the exact solution.
5/2

3/2

t+1

78

Y. Wang, L. Zhu / Applied Mathematics and Computation 275 (2016) 7280

k=2,M=3

k=3,M=3

0.06

k=4,M=3

Numerical solution
Exact solution

0.08

Numerical solution
Exact solution

0.1

Numerical solution
Exact solution

0.05

0.05

0.1

0.1

0.12

0.18

y(t)

y(t)

0.16

0.15

0.15

0.2

0.2

0.2

0.22

0.24

0.26

0.5
t

0.25

0.5
t

0.25

0.5
t

Fig. 2. Comparisons of numerical solutions and exact solution of Example 2 for different k.

k=5,M=2
3
Numerical solution of =0.7
Numerical solution of =0.8
Numerical solution of =0.9
Numerical solution of =1
Exact solution =1

2.5

y(t)

y(t)

0.14

1.5

0.5

0.2

0.4

0.6
t

Fig. 3. Numerical solutions and exact solution of = 1.

0.8

Y. Wang, L. Zhu / Applied Mathematics and Computation 275 (2016) 7280

79

Example 3. Consider the following equation

D y(t ) =

t
0

y (s )
ds +
(t s )1/2

1
0

(t 2 + cos s )y(s )ds + f (t ),

(32)

(3 )t
t3 2 cos 1 + sin 1, with this supplementary condition y(0 ) = 0. The exact solution is y(t ) = t 2
where f (t ) = 2t 2(
7/2 )
when = 1.
By setting k = 5 and M = 2, we obtain SCW solutions for various . In Fig. 3, we show the SCW solutions and the exact
solution for various values of . It is evident from Fig. 3 that, as is close to 1, the numerical solutions by SCW, converge to the
exact solution, that is, the solution of the fractional integro-differential equation approaches the solution of the integer order
integro-differential equation.
5/2

Lets consider example with non-smooth and singular solutions.

k=4,M=2

k=5,M=2

k=6,M=2

14

Numerical solution
Exact solution

Numerical solution
Exact solution

Numerical solution
Exact solution

5.5
7

12

10

4.5

3.5

u(t)

u(t)

y(t)

2.5

1.5

0.5
t

0.5
t

Fig. 4. Comparisons of numerical solutions and exact solution of Example 4 for different k.

Table 3
The absolute errors of different k and M = 2 for Example 4.
t

k=4

k=5

k=6

0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9

6.7355e-02
9.4799e-02
1.1993e-01
1.1628e-01
1.0517e-01
9.9094e-02
8.9717e-02
7.9154e-02
6.8848e-02

9.7161e-02
5.6899e-02
9.2375e-02
9.7659e-02
9.0248e-02
8.3582e-02
7.4367e-02
6.5842e-02
5.8091e-02

9.8457e-02
4.1789e-02
6.9725e-02
7.3216e-02
6.9329e-02
6.3163e-02
5.6505e-02
5.0045e-02
4.4036e-02

0.5
t

80

Y. Wang, L. Zhu / Applied Mathematics and Computation 275 (2016) 7280

Example 4. Consider the following equation

D y(t ) =

t
0

y (s )
ds
(t s )1/2

1
0

tsy(s )ds + f (t ),

(33)

3/4

t
as the exact solution, with this supplementary condition y(0 ) = 0, where f (t ) = 23 t + (
+ . In this
1/4 )
case, there is a singularity at point t = 0. The solution around this point is not good (see Fig. 4 with M = 2 and some k). Due to
this fact, the numerical results in Table 3 have been calculated over the interval [0.005: 1]. As it is observed, our method provides
a reasonable estimate even in this case with singular solution.

which has y(t ) =

7. Conclusion
In this paper, a numerical method is presented for numerical solutions of the fractional order integro-differential equation
with a weakly singular kernel. Using the properties of SCW, we transform the initial problem into a linear algebraic system
equations. By solving the linear system, numerical solutions are obtained. Moreover, The error analysis of SCW is proposed. Also,
We have considered various types of solutions, with smooth, non-smooth and even singular behavior. In all the considered cases,
the method provides reasonable estimates. The numerical results show that the approximations are in very good coincidence
with the exact solution. The obtained results are compared with exact solution and with the solutions obtained by CAS wavelets.
The present method is better than CAS wavelets method.
The main character of our method is to combine the SCW method with the denition of RiemannLiouville fractional integral
operator dealing with the weakly singular integral, and the SCW basis functions are orthogonal and have small intervals of
support, they can lead to a sparse matrix representation.
Acknowledgments
The authors are very thankful to the reviewers and the editor of this paper for their constructive comments and nice suggestions, which helped to improve the paper. This work was supported by the the Tian Yuan Special Funds of the National Natural
Science Foundation of China (grant no. 11426192) and the Research Project of Education of Zhejiang Province (Y201431734).
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