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doi:10.5899/2011/jfsva-00067 Research Article

Solving Fuzzy Nonlinear Volterra-Fredholm

Integral Equations by Using Homotopy Analysis

and Adomian Decomposition Methods

Sh. Sadigh Behzadi

Department of Mathematics, Central Tehran Branch, Islamic Azad University, Tehran, Iran.

Copyright 2011 c⃝ Sh. Sadigh Behzadi. This is an open access article distributed under the Creative Com-mons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

In this paper, Adomian decomposition method (ADM) and homotopy analysis method (HAM) are proposed to solving the fuzzy nonlinear Volterra-Fredholm integral equation of the second kind(F V F IE− 2). we convert a fuzzy nonlinear Volterra-Fredholm integral equation to a nonlinear system of Volterra-Fredholm integral equation in crisp case. we use ADM , HAM and find the approximate solution of this system and hence obtain an approximation for fuzzy solution of the nonlinear fuzzy Volterra-Fredholm integral equa-tion. Also, the existence and uniqueness of the solution and convergence of the proposed methods are proved. Examples is given and the results reveal that homotopy analysis method is very effective and simple compared with the Adomian decomposition method.

Keywords: Fuzzy number; Volterra-Fredholm integral equations; Adomian decomposition method; Homotopy analysis method.

1

Introduction

As we know the fuzzy differential and integral equations are one of the important part of the fuzzy analysis theory that play major role in numerical analysis. The concept of fuzzy numbers and arithmetic operations on it was introduced by Zadeh [8, 27] which was further enriched by Mizumoto and Tanaka [22]. Dubois and Prade [9] made a sig-nificant contribution by introducing the concept of LR fuzzy numbers and presented a computational formula for operations on fuzzy numbers. Also they [11] was introduced the concept of integration of fuzzy functions. Later, Goetschel and Voxman [16] preferred

Email address: shadan [email protected], Fax number:+982122037349.

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a Riemann integral type approach, Kaleva [18] chose to define the integral of fuzzy func-tion, using the Lebesgue-type concept for integration. One of the first applications of fuzzy integration was given by Wu and Ma who investigated the fuzzy Fredholm integral equation of the second kind. Recently, some mathematician have studied solution of fuzzy integral equation by numerical method [7, 15, 17, 25]. In present,we try to employ Ado-mian decomposition method and homotopy analysis method for solving fuzzy nonlinear Volterra-Fredholm integral equation. Furthermore, we aim to study the existence of a unique solution and convergency of the methods for fuzzy nonlinear Volterra-Fredholm integral equation. The structure of this paper is organized as follows: In Section 2, some basic notations used in fuzzy calculus are introduced. In Section 3, we convert a fuzzy nonlinear Volterra-Fredholm integral equation to a nonlinear system of Volterra-Fredholm integral equation of second kind in crisp case and approximate F V F IE− 2 with ADM and HAM . We aim existence and uniqueness of the solution and convergence of the pro-posed methods in Section 4. Finally, in Section 5, we illustrate the accuracy of methods by solving numerical example,and a brief conclusion is given in Section 6.

2

Basic concepts

Here basic definitions of a fuzzy number are given in [1, 2, 11, 19, 23, 28] as follows: Definition 2.1. A fuzzy number is a fuzzy set like u : R→ [0, 1] which satisfies:

1. u is an upper semi-continuous function, 2. u(x) = 0 outside some interval [a,d],

3. There are real numbers b, c such as a≤ b ≤ c ≤ d and 3.1 u(x) is a monotonic increasing function on [a, b], 3.2 u(x) is a monotonic decreasing function on [c, d], 3.3 u(x) = 1 for all x∈ [b, c].

The set of all fuzzy numbers (as given by Definition (2.1)) is denoted by E1 and is a convex cone. An alternative definition for parametric form of a fuzzy number is given by Kaleva [18].

Definition 2.2. A fuzzy number eu in parametric form is a pair (u, u) of functions u(r), u(r), 0≤ r ≤ 1, which satisfy the following requirements:

1. u(r) is a bounded monotonic increasing left continuous function, 2. u(r) is a bounded monotonic decreasing left continuous function, 3. u(r)≤ u(r), 0 ≤ r ≤ 1.

Definition 2.3. For arbitrary ˜u = (u(r), u(r)) and ˜v = (v(r), v(r)) , 0≤ r ≤ 1, and scalar k, we define addition, subtraction, scalar product by k and multiplication are respectively as following:

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• subtraction: u − v(r) = u(r) − v(r), u− v(r) = u(r) − v(r), • scalar product: k ˜u = { (ku(r), ku(r)), k≥ 0, (ku(r), ku(r)), k < 0, (2.1) • multiplication: ˜ u· ˜v = {

uv(r) = max{u(r)v(r), u(r)v(r), u(r)v(r), u(r)v(r)}, uv(r) = min{u(r)v(r), u(r)v(r), u(r)v(r), u(r)v(r)}.

(2.2)

Definition 2.4. For arbitrary fuzzy numbers ˜u, ˜v∈ E1 , we use the distance [16]

D(u(r), v(r)) = max{ sup

r∈[0,1]

|u(r) − v(r)|, sup |u(r) − v(r)|}, (2.3) and it is shown [24] that (E1 , D) is a complete metric space.

Definition 2.5. The integral of a fuzzy function was define in [16] by using the Riemann integral concept.

Let f : [a, b] → E1, for each partition P = {t

0, t1, ..., tn} of [a, b] and for arbitrary ξi

[ti− 1, ti], 1≤ i ≤ n, suppose Rp = ∑n i=1f (ξi)(ti− ti−1), ∆ := max{|ti− ti−1|, 1 ≤ i ≤ n}. (2.4)

The definite integral of f (t) over [a, b] isb

a

f (t)dt = lim

→0Rp, (2.5)

provided that this limit exists in the metric D.

If the fuzzy function f (t) is continuous in the metric D, its definite integral exists [16], and also,

(∫abf (t, r)dt) =abf (t, r)dt, (∫abf (t, r)dt) =abf (t, r)dt.

(2.6)

It should be noted that the fuzzy integral can be also defined using the Lebesgue-type approach [18]. However, if f (t) is continuous, both approaches yield the same value. More details about the properties of the fuzzy integral are given in [16, 18].

3

Fuzzy nonlinear Volterra-Fredholm integral equation

The fuzzy nonlinear Fredholm-Volterra integral equation of the second kind is as follows: eu(x) = ef (x) + µ1 ∫ x a K1(x, t)G1(t,eu(t))dt + µ2 ∫ b a K2(x, t)G2(t,eu(t))dt, (3.7)

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where µ1, µ2 ≥ 0, ef (x) is a fuzzy function of x : a ≤ x ≤ b, and Ki(x, t), Gi(t,eu(t)),

i = 1, 2, are analytic functions on [a, b]. For solving in parametric form of Eq. (3.7), consider (f (x, r), f (x, r)) and (u(x, r), u(x, r)), 0 ≤ r ≤ 1 and t ∈ [a, b] are parametric form of ef (x) and eu(x), respectively. then, parametric form of Eq. (3.7) is as follows:

u(x, r) = f (x, r) + µ1 ∫x a K1(x, t)G1(t, u(t, r))dt + µ2 ∫b aK2(x, t)G2(t, u(t, r))dt, u(x, r) = f (x, r) + µ1 ∫x a K1(x, t)G1(t, u(t, r))dt + µ2 ∫b aK2(x, t)G2(t, u(t, r))dt,

Let for a≤ t ≤ b, we have

H1(t, u, u) = min{G1(t, β)| u(t, r) ≤ β ≤ u(t, r)}

H2(t, u, u) = min{G2(t, β)| u(t, r) ≤ β ≤ u(t, r)}

F1(t, u, u) = max{G1(t, β) | u(t, r) ≤ β ≤ u(t, r)}

F2(t, u, u) = max{G2(t, β) | u(t, r) ≤ β ≤ u(t, r)}

Then, K1(x, t)G1(t, u(t, r)) = { K1(x, t)H1(t, u, u), K1(x, t)≥ 0, K1(x, t)F1(t, u, u), K1(x, t) < 0. K2(x, t)G2(t, u(t, r)) = { K2(x, t)H2(t, u, u), K2(x, t)≥ 0, K2(x, t)F2(t, u, u), K2(x, t) < 0. K1(x, t)G1(t, u(t, r)) = { K1(x, t)F1(t, u, u), K1(x, t)≥ 0, K1(x, t)H1(t, u, u), K1(x, t) < 0. K2(x, t)G2(t, u(t, r)) = { K2(x, t)F2(t, u, u), K2(x, t)≥ 0, K2(x, t)H2(t, u, u), K2(x, t) < 0.

For each 0 ≤ r ≤ 1 and a ≤ x ≤ b. We can see that Eq. (3.7) convert to a system of nonlinear Fredholm-Volterra integral equations in crisp case for each 0 ≤ r ≤ 1 and a ≤ t ≤ b. Now, we explain Adomian and homotopy analysis methods as a numerical algorithm for approximating solution of this system of nonlinear integral equations in crisp case. then, we find approximate solutions for eu(x), a ≤ x ≤ b.

3.1 Using of Adomian decomposition method

The Adomian decomposition method has been applied to a wild class of functional equa-tions [3, 4, 5, 6, 13, 26] by scientists and engineers since the beginning of the 1980s.Adomian gives the solution as a infinite series usually converging to a solution consider the following fuzzy Fredholm-Volterra integral equation of the form

u(x, r) = f (x, r) + µ1 ∫x a K1(x, t)G1(t, u(t, r))dt + µ2 ∫b aK2(x, t)G2(t, u(t, r))dt, u(x, r) = f (x, r) + µ1 ∫x a K1(x, t)G1(t, u(t, r))dt + µ2 ∫b aK2(x, t)G2(t, u(t, r))dt. (3.8)

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The ADM assume an infinite series solution for the unknowns functions [u, u], given by u(x) =i=0ui(x),

u(x) =i=0ui(x).

(3.9)

The nonlinear operators G1(t, u(t)), G1(t, u(t)), G2(t, u(t)), G2(t, u(t)) into an infinite series

of polynomials given by G1(t, u(t)) = n=0An, G1(t, u(t)) = n=0An G2(t, u(t)) = n=0Bn, G2(t, u(t)) = n=0Bn (3.10)

where the ˜An = [An, An], ˜Bn = [Bn, Bn], n≥ 0, are the so-called Adomian polynomial

defined by: An= n!1[dnn(G1 ∑n i=0λiui)]λ=0, An= n!1[d n dλn(G1 ∑n i=0λiui)]λ=0, Bn= n!1[dnn(G2 ∑n i=0λiui)]λ=0, Bn= n!1[d n dλn(G2 ∑n i=0λiui)]λ=0. (3.11)

Substituting Eqs. (3.9) and (3.10) into Eq. (3.8), we get u0 = f (x, r), u1 = µ1 ∫x a K1(x, t)A0 dt + µ2 ∫b aK2(x, t)B0 dt, .. . un+1 = µ1 ∫x a K1(x, t)Andt + µ2 ∫b aK2(x, t)Bn dt, n≥ 0, (3.12) and u0 = f (x, r), u1 = µ1 ∫x a K1(x, t)A0 dt + µ2 ∫b aK2(x, t)B0 dt, .. . un+1 = µ1 ∫x a K1(x, t)Andt + µ2 ∫b aK2(x, t)Bn dt, n≥ 0, (3.13)

We approximate eu(x, r) = [u(x, r), u(x, r)] by

ϕ n= n−1 i=0 ui(x, r), ϕn= n−1i=0 ui(x, r),

where, limn→∞ϕn= u(x, r), limn→∞ϕn= u(x, r).

3.2 Using of homotopy analysis method

Consider,

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where N is a nonlinear operator, u(x, r) is unknown function and x is an independent variable. Let u0(x, r) denote an initial guess of the exact solution u(x, r), h ̸= 0 an

auxiliary parameter, H1(x)̸= 0 an auxiliary function, and L an auxiliary linear operator

with the property L[s(x)] = 0 when s(x) = 0. Then using q ∈ [0, 1] as an embedding parameter, we construct a homotopy as follows:

(1− q)L[ϕ(x; q, r) − u0(x, r)]− qhH1(x)N [ϕ(x; q, r)] = ˆH[ϕ(x; q, r); u0(x, r), H1(x), h, q].

(3.14) It should be emphasized that we have great freedom to choose the initial guess u0(x, r),

the auxiliary linear operator L, the non-zero auxiliary parameter h, and the auxiliary function H1(x).

Enforcing the homotopy Eq. (3.14) to be zero, i.e., ˆ

H1[ϕ(x; q, r); u0(x, r), H1(x), h, q] = 0, (3.15)

we have the so-called zero-order deformation equation

(1− q)L[ϕ(x; q, r) − u0(x, r)] = qhH1(x)N [ϕ(x; q, r)]. (3.16)

when q = 0, the zero-order deformation Eq. (3.16) becomes

ϕ(x; 0, r) = u0(x, r), (3.17)

and when q = 1, since h ̸= 0 and H1(x) ̸= 0, the zero-order deformation Eq. (3.16) is

equivalent to

ϕ(x; 1, r) = u(x, r). (3.18)

Thus, according to Eqs. (3.17) and (3.18) , as the embedding parameter q increases from 0 to 1, ϕ(x; q, r) varies continuously from the initial approximation u0(x, r) to the exact

solution u(x, r). Such a kind of continuous variation is called deformation in homotopy [14, 20, 21].

Due to Taylor’s theorem, ϕ(x; q, r) can be expanded in a power series of q as follows ϕ(x; q, r) = u0(x, r) + m=1 um(x, r)qm, (3.19) where, um(x, r) = 1 m! ∂mϕ(x; q, r) ∂qm |q=0 .

Let the initial guess u0(x, r), the auxiliary linear parameter L, the nonzero auxiliary

parameter h and the auxiliary function H1(x) be properly chosen so that the power series

Eq. (3.19) of ϕ(x; q, r) converges at q = 1, then, we have under these assumptions the solution series u(x, r) = ϕ(x; 1, r) = u0(x, r) + m=1 um(x, r). (3.20)

From Eq. (3.19) , we can write Eq. (3.16) as follows: (1− q)L[ϕ(x; q, r) − u0(x, r)] = (1− q)L[

m=1um(x, r) qm]

= q h H1(x)N [ϕ(x; q, r)]

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then, L[ m=1 um(x, r) qm]− q L[ m=1 um(x, r)qm] = q h H1(x)N [ϕ(x; q, r)]

By differentiating Eq. (3.21) m times with respect to q, we obtain {L[∞m=1um(x, r) qm]− q L[ m=1um(x, r)qm]}(m) ={q h H1(x)N [ϕ(x; q, r)]}(m) = m! L[um(x)− um−1(x, r)] = h H1(x) m m−1N [ϕ(x;q,r)] ∂qm−1 |q=0 . Therefore, L[um(x, r)− χmum−1(x, r)] = hH1(x)ℜm(um−1(x, r)), (3.22) where, ℜm(um−1(x, r)) = 1 (m− 1)! ∂m−1N [ϕ(x; q, r)] ∂qm−1 |q=0, (3.23) and χm= { 0, m≤ 1 1, m > 1

Note that the high-order deformation Eq. (3.22) is governing the linear operator L, and the termℜm(um−1(x, r)) can be expressed simply by Eq. (3.23) for any nonlinear operator

N .

To obtain the approximation solution of Eq. (3.7), according to HAM, let N [u(x, r)] = u(x, r)− f(x, r) − µ1 ∫x a K1(x, t)G1(t, u(t, r))dt− µ2 ∫b aK2(x, t)G2(t, u(t, r))dt, so, ℜm(um−1(x, r)) = um−1(x, r)− f(x, r) − µ1 ∫x a K1(x, t)G1(t, um−1(t, r))dt −µ2 ∫b aK2(x, t)G2(t, um−1(t, r))dt− (1 − χm)f (x, r), m≥ 1 (3.24)

Substituting Eq. (3.24) into Eq. (3.23)

L[um(x, r)− χmum−1(x, r)] = hH1(x)[um−1(x, r)− µ1 ∫x a K1(x, t)G1(t, um−1(t, r))dt −µ2 ∫b a K2(x, t)G2(t, um−1(t, r))dt− (1 − χm)f (x, r)]. (3.25) We take an initial guess u0(x, r) = f (x, r), an auxiliary linear operator Lu = u, a nonzero

auxiliary parameter h =−1, and auxiliary function H1(x) = 1. This is substituted into

Eq. (3.25) to give the recurrence relation u0(x, r) = f (x, r), un+1(x, r) = µ1 ∫x a K1(x, t)G1(t, un(t, r))dt + µ2 ∫b aK2(x, t)G2(t, un(t, r))dt, n≥ 1. (3.26)

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Also, we can write u0(x, r) = f (x, r), un+1(x, r) = µ1 ∫x a K1(x, t)G1(t, un(t, r))dt + µ2 ∫b aK2(x, t)G2(t, un(t, r))dt, n≥ 1. (3.27) We approximate eu(x, r) = [u(x, r), u(x, r)] by

u(x, r) = lim

n→∞un, u(x, r) = limn→∞un.

4

Existence and convergence analysis

Consider ef (x) is bounded ∀x ∈ [a, b] and

| µ1k1(x, t)|≤ M1, | µ2k2(x, t)|≤ M2,∀a ≤ x, t ≤ b.

Also, we suppose the nonlinear operators G1(t,eu(t)), G2(t,eu(t)) are satisfied in Lipschitz

conditions with

D(G1(t,eu(y)), G1(t,eu(z))) ≤ L1D(y, z),

D(G2(t,eu(y)), G2(t,eu(z))) ≤ L2D(y, z).

Let,

α = M1L1+ M2L2.

In what follows we will prove the existence and uniqueness of the solution and convergence of the methods by using the above assumptions.

Theorem 4.1. Let 0 < α < 1, then Eq.(3.7) has a unique solution. Proof. Let u and u be two different solutions of Eq.(3.7) then D(eu, eu∗) = D ( e f (x)⊕ µ1x a k1(x, t)⊙ G1(t,eu(t)) dt ⊕ µ2b ak2(x, t)⊙ G2(t,eu(t)) dt, e f (x)⊕ µ1x a k1(x, t)⊙ G1(t,eu∗(t)) dt⊕ µ2b ak2(x, t)⊙ G2(t,eu∗(t)) dt ) ≤ (M1L1+ M2L2)(b− a) D(eu(t), eu∗(t)) = α D(eu(t), eu∗(t)).

From which we get (1− α)D(eu, eu∗) ≤ 0. Since 0 < α < 1, then D(eu, eu∗) = 0. Implies eu = eu∗ and completes the proof.

Theorem 4.2. The series solution u(x, r) =i=0ui(x, r) of problem Eq. (3.7) using

ADM convergence when 0 < α < 1, | u1(x, r)|< ∞.

Proof. Define the sequence of partial sums sn, let snand smbe arbitrary partial sums

with n≥ m. We are going to prove that snis a Cauchy sequence in this Banach space:

∥ sn− sm∥ = max∀x∈[a,b] | sn− sm|

= max∀x∈[a,b] |ni=m+1ui(x, r)|

= max∀x∈[a,b] |ni=m+11

x a k1(x, t)Ai−1 dt + µ2 ∫b ak2(x, t)Bi−1 dt| = max∀x∈[a,b] | µ1 ∫x a k1(x, t)(n−1 i=mAi) dt + µ2 ∫b a k2(x, t)(n−1 i=mBi) dt| .

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From [12], we have ∑n−1 i=mAi = G1(t, sn−1)− G1(t, sm−1),n−1 i=mBi = G2(t, sn−1)− G2(t, sm−1). So, ∥ sn− sm∥ = max∀x∈[a,b] µ1 ∫x a k1(x, t)[G1(t, sn−1)− G1(t, sm−1)] dt 2 ∫b ak2(x, t)[G2(sn−1)− G2(sm−1)] dt x a | µ1k1(x, t)|| G1(t, sn−1)− G1(t, sm−1)| dt +∫ab| µ2k2(x, t)|| G2(t, sn−1)− G2(t, sm−1)| dt ≤ α ∥ sn− sm ∥ . Let n = m + 1, then ∥ sn− sm ∥ ≤ α ∥ sm− sm−1 ≤ α2 ∥ s m−1− sm−2∥ .. . ≤ αm ∥ s 1− s0 ∥ . We have, ∥ sn− sm∥ ≤∥ sm+1− sm∥ + ∥ sm+2− sm+1 ∥ +...+ ∥ sn− sn−1∥ ≤ [αm+ αm+1+ ... + αn−1]∥ s 1− s0 ≤ αm[1 + α + α2+ ... + αn−m−1]∥ s 1− s0 ≤ αm[1−αn−m 1−α ]∥ u1(x, r)∥ .

Since 0 < α < 1, we have (1− αn−m) < 1, then ∥ sn− sm∥≤

αm

1− αmax∀t| u1(x, r)| . (4.28)

But | u1(x, t) |< ∞ , so, as m → ∞, then ∥ sn− sm ∥→ 0. We conclude that sn is a

Cauchy sequence , therefore

u(x, r) = lim

n→∞un(x, r).

Similarly, we have sn is cauchy sequence ,then, we can write u(x, r) = lim

n→∞un(x, r).

Therefore,

eu(x, r) = lim

n→∞eun(x, r).

Theorem 4.3. fuzzy nonlinear Fredholm-Volterra integral equation of the second kind is convergent to the exact solution when using HAM.

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Proof. We assume for k≥ 0: ϕk+1(x, t) = ef (x) k+1 i=1 [ µ1x a k1(x, t) ⊙ G1(t,eui(t)) dt⊕ µ2b ak2(x, t)G2(t,eui(t)) dt ] . D(ϕk+1(x, t), ϕk(x, t)) = D(ϕk(x, t)⊕ µ1x a k1(x, t) ⊙ G1(t,euk+1(t)) dt⊕ µ2b ak2(x, t) ⊙ G2(t,euk+1(t)) dt, ϕk(x, t)) = D ( µ1x a k1(x, t) ⊙ G1(t,euk+1(t)) dt⊕ µ2b ak2(x, t) ⊙ G2(t,euk+1(t)) dt, e0 ) ≤ D(euk+1(x), e0) D(euk(x), e0)≤ αkD( ef , e0) so, D(ϕk+1, ϕk)≤ αk+1D( ef , e0) then, k=0 D(ϕk+1, ϕk)≤ αk+1D(f, e0) k=0 αk Since 0 < α < 1 then completes the proof.

Lemma 4.1. The computational complexity of the ADM is O(n3) and HAM is O(n).

Proof. The number of computations including division, production, sum and subtrac-tion. ADM: u0, u0: 0. u1, u1: 13. u2, u2: 24. un+1, un+1 : n2+ 10n + 13, n≥ 1.

The total number of the computations is equal to

n+1i=0 ui(x, t) + n+1i=0 ui(x, t) = O(n3). HAM: u0, u0 : 0. u1, u1 : 5. u2, u2 : 5. un+1, un+1: 5, n≥ 0.

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The total number of the computations is equal to n+1i=0 ui(x, t) + n+1i=0 ui(x, t) = O(n).

By comparing the results of computational complexity, we see that the number of compu-tations in HAM is less than the number of compucompu-tations in ADM.

5

Numerical example

Example 5.1. Consider the fuzzy Fredholm-Volterra integral equation as follows:

eu(x) = ef (x) +x 0 K1(x, t)eu3(t)dt +0.6 0 K2(x, t)(1 +eu2(t))dt (5.29) where, f (x, r) = sin(x2)(1315(r2+ r) + 152(4− r3− r), f (x, r) = sin(x2)(152(r2+ r) + 1315(4− r3− r), ϵ = 10−2. and, K1(x, t) = sin(x) sin(2t), 0≤ x, t ≤ 0.6, K2(x, t) = sin(x2) sin(t), 0≤ x, t ≤ 0.6. x ADM (n=11,r = 0.3) HAM ( n= 4,r = 0.3) (0.1) 0.2203548375 0.220466398 (0.2) 0.3062332542 0.3063488741 (0.3) 0.4035946723 0.4037996457 (0.4) 0.5233741235 0.523486276 (0.6) 0.6523678927 0.6524855123

6

Conclusion

The HAM has been shown to solve effectively, easily and accurately a large class of non-linear problems with the approximations which are convergent are rapidly to the exact solutions. In this work, the HAM has been successfully employed to obtain the approxi-mate solution of the fuzzy nonlinear Volterra-Fredholm integral equation. For this purpose in example, we showed that the HAM is more rapid convergence than the ADM. Also, the number of computations in HAM is less than the number of computations in ADM.

References

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http://dx.doi.org/10.1016/j.amc.2004.02.020.

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References

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