Let \(\mathcal{S}=\{x | x\in C([a,b],\mathbb{R}) \}\) be the space equipped with the norm \(\|x\|=\sup_{t\in [0,1]}|x(t)|\). Obviously, \((\mathcal{S},\|\cdot \|)\) is a Banach space and, consequently, the product space \((\mathcal{S}\times \mathcal{S},\|\cdot \|)\) is a Banach space with the norm \(\|(x+y)\|=\|x\|+\|y\|\) for \((x,y)\in \mathcal{S}\times \mathcal{S}\).
In view of Lemma 2, we define an operator \(\mathcal{Q}:\mathcal{S}\times \mathcal{S}\rightarrow \mathcal{S} \times \mathcal{S}\) by
$$ \mathcal{Q}(x,y) (t):= \bigl(\mathcal{Q}_{1}(x,y) (t), \mathcal{Q}_{2}(x,y) (t) \bigr), $$
where
$$\begin{aligned}& \mathcal{Q}_{1}(x,y) (t) \\& \quad = \int _{0}^{t} \frac{(t-s)^{q-1}}{\Gamma (q)} f_{1} \bigl(s,x(s),y(s) \bigr)\,ds- \sum_{i=1}^{k} \int _{0}^{t} \frac{(t-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} g_{i} \bigl(s,x(s),y(s) \bigr) \,ds +a_{1} \\& \qquad {} - \frac{t}{\Lambda _{1}} \Biggl[\sigma _{1} \int _{0}^{1} \Biggl( \frac{(1-s)^{q-1}}{\Gamma (q)} f_{1} \bigl(s,x(s),y(s) \bigr)-\sum_{i=1}^{k} \frac{(1-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} g_{i} \bigl(s, x(s),y(s) \bigr) \Biggr)\,ds \\& \qquad {} + \sigma _{2} \int _{0}^{1} \Biggl(\frac{(1-s)^{q-2}}{\Gamma (q-1)} f_{1} \bigl(s,x(s),y(s) \bigr)- \sum_{i=1}^{k} \frac{(1-s)^{q+p_{i}-2}}{\Gamma (q+p_{i}-1)} g_{i} \bigl(s, x(s),y(s) \bigr) \Biggr) \,ds \\& \qquad {} - \sigma _{3} \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} f_{2} \bigl(u,x(u),y(u) \bigr) \,du \,ds \\& \qquad {} + \sum_{j=1}^{l} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} \int _{0}^{u} \frac{(u-w)^{\upsilon _{j}-1}}{\Gamma (\upsilon _{j} )}h_{j} \bigl(w,x(w),y(w) \bigr)\,dw \,du \,ds \Biggr) \\& \qquad {} - \sigma _{4} \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{\delta -1}}{\Gamma (\delta )}f_{2} \bigl(s,x(s),y(s) \bigr)+ \sum_{j=1}^{l} \frac{(\eta _{m}-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j})} h_{j} \bigl(s,x(s),y(s) \bigr) \Biggr)\,ds \\& \qquad {} + \sigma _{5} \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -1}}{\Gamma (\delta )} f_{2} \bigl(s,x(s),y(s) \bigr)-\sum_{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j} )} h_{j} \bigl(s, x(s),y(s) \bigr) \Biggr)\,ds \\& \qquad {} + \sigma _{6} \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -2}}{\Gamma (\delta -1)} f_{2} \bigl(s,x(s),y(s) \bigr)-\sum_{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-2}}{\Gamma (\delta +\upsilon _{j}-1)} h_{j} \bigl(s, x(s),y(s) \bigr) \Biggr)\,ds \\& \qquad {} - \sigma _{7} \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{q-1}}{\Gamma (q)} f_{1} \bigl(u,x(u),y(u) \bigr) \,du \,ds \\& \qquad {} + \sum_{i=1}^{k} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{q-1}}{\Gamma (q)} \int _{0}^{u} \frac{(u-w)^{p_{i}-1}}{\Gamma (p_{i} )}g_{i} \bigl(w,x(w),y(w) \bigr)\,dw \,du \,ds \Biggr) \\& \qquad {} - \sigma _{8} \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{q-1}}{\Gamma (q)}f_{1} \bigl(s,x(s),y(s) \bigr) \\& \qquad {} + \sum_{i=1}^{k} \frac{(\eta _{m}-s)^{q+p_{i}-1}}{\Gamma (q+p_{i})} g_{i} \bigl(s,x(s),y(s) \bigr) \Biggr)\,ds+ \Lambda _{2} \Biggr] \end{aligned}$$
and
$$\begin{aligned}& \mathcal{Q}_{2}(x,y) (t) \\& \quad = \int _{0}^{t} \frac{(t-s)^{\delta -1}}{\Gamma (\delta )} f_{2} \bigl(s,x(s),y(s) \bigr)\,ds- \sum_{j=1}^{l} \int _{0}^{t} \frac{(t-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j} )} h_{j} \bigl(s,x(s),y(s) \bigr) \,ds +b_{1} \\& \qquad {} - \frac{t}{\Lambda _{1}} \Biggl[\sigma _{9} \int _{0}^{1} ( \frac{(1-s)^{q-1}}{\Gamma (q)} f_{1} \bigl(s,x(s),y(s) \bigr)-\sum_{i=1}^{k} \frac{(1-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} g_{i} \bigl(s, x(s),y(s) \bigr)\,ds \\& \qquad {} + \sigma _{10} \int _{0}^{1} \Biggl(\frac{(1-s)^{q-2}}{\Gamma (q-1)} f_{1} \bigl(s,x(s),y(s) \bigr)- \sum_{i=1}^{k} \frac{(1-s)^{q+p_{i}-2}}{\Gamma (q+p_{i}-1)} g_{i} \bigl(s, x(s),y(s) \bigr) \Biggr) \,ds \\& \qquad {} - \sigma _{11} \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} f_{2} \bigl(u,x(u),y(u) \bigr) \,du \,ds \\& \qquad {} + \sum_{j=1}^{l} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} \int _{0}^{u} \frac{(u-w)^{\upsilon _{j}-1}}{\Gamma (\upsilon _{j} )}h_{j} \bigl(w,x(w),y(w) \bigr)\,dw \,du \,ds \Biggr) \\& \qquad {} - \sigma _{12} \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{\delta -1}}{\Gamma (\delta )}f_{2} \bigl(s,x(s),y(s) \bigr)+ \sum_{j=1}^{l} \frac{(\eta _{m}-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta + \upsilon _{j})} h_{j} \bigl(s,x(s),y(s) \bigr) \Biggr)\,ds \\& \qquad {} + \sigma _{13} \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -1}}{\Gamma (\delta )} f_{2} \bigl(s,x(s),y(s) \bigr)-\sum_{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j} )} h_{j} \bigl(s, x(s),y(s) \bigr) \Biggr)\,ds \\& \qquad {} + \sigma _{14} \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -2}}{\Gamma (\delta -1)} f_{2} \bigl(s,x(s),y(s) \bigr)-\sum_{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-2}}{\Gamma (\delta +\upsilon _{j}-1)} h_{j} \bigl(s, x(s),y(s) \bigr) \Biggr)\,ds \\& \qquad {} - \sigma _{15} \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{q-1}}{\Gamma (q)}f_{1} \bigl(u,x(u),y(u) \bigr) \,du \,ds \\& \qquad {} + \sum_{i=1}^{k} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{q-1}}{\Gamma (q)} \int _{0}^{u} \frac{(u-w)^{p_{i}-1}}{\Gamma (p_{i} )}g_{i} \bigl(w,x(w),y(w) \bigr)\,dw \,du \,ds \Biggr) \\& \qquad {} - \sigma _{16} \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{q-1}}{\Gamma (q)}f_{1} \bigl(s,x(s),y(s) \bigr) \\& \qquad {} + \sum_{i=1}^{k} \frac{(\eta _{m}-s)^{q+p_{i}-1}}{\Gamma (q+p_{i})} g_{i} \bigl(s,x(s),y(s) \bigr) \Biggr)\,ds+ \Lambda _{3} \Biggr]. \end{aligned}$$
In the sequel, we use the following notations:
$$\begin{aligned}& \varphi _{1} = \biggl[\frac{1}{\Gamma (q+1)}+ \frac{1}{ \vert \Lambda _{1} \vert } \biggl(\frac{ \vert \sigma _{1} \vert + \vert \sigma _{8} \vert \eta _{m}^{q}}{\Gamma (q+1)}+ \frac{ \vert \sigma _{2} \vert }{\Gamma (q)}+ \frac{ \vert \sigma _{7} \vert \zeta ^{q+1}}{\Gamma (q+2)} \biggr) \biggr], \\& \varphi _{2} = \biggl[\frac{1}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{3} \vert \zeta ^{\delta +1}}{\Gamma (\delta +2)}+ \frac{ \vert \sigma _{4} \vert \eta _{m}^{\delta }+ \vert \sigma _{5} \vert }{\Gamma (\delta +1)}+ \frac{ \vert \sigma _{6} \vert }{\Gamma (\delta )} \biggr) \biggr], \\& \Omega _{i} = \biggl[\frac{1}{\Gamma (q+p_{i}+1)}+ \frac{1}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{1} \vert + \vert \sigma _{8} \vert \eta _{m}^{q+p_{i}}}{\Gamma (q+p_{i}+1)}+ \frac{ \vert \sigma _{2} \vert }{\Gamma (q+p_{i})}+ \frac{ \vert \sigma _{7} \vert \zeta ^{q+p_{i}+1}}{\Gamma (q+p_{i}+2)} \biggr) \biggr], \end{aligned}$$
(14)
$$\begin{aligned}& \widehat{\Omega }_{j} = \biggl[\frac{1}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{3} \vert \zeta ^{\delta +\upsilon _{j}+1}}{\Gamma (\delta +\upsilon _{j}+2)}+ \frac{ \vert \sigma _{4} \vert \eta _{m}^{\delta +\upsilon _{j}} + \vert \sigma _{5} \vert }{\Gamma (\delta +\upsilon _{j}+1)}+ \frac{ \vert \sigma _{6} \vert }{\Gamma (\delta +\upsilon _{j})} \biggr) \biggr], \\& \vartheta _{1} = \biggl[\frac{1}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{9} \vert + \vert \sigma _{16} \vert \eta _{m}^{q}}{\Gamma (q+1)}+ \frac{ \vert \sigma _{10} \vert }{\Gamma (q)} + \frac{ \vert \sigma _{15} \vert \zeta ^{q+1}}{\Gamma (q+2)} \biggr) \biggr], \\& \vartheta _{2} = \biggl[\frac{1}{\Gamma (\delta +1)}+ \frac{1}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{11} \vert \zeta ^{\delta +1}}{\Gamma (\delta +2)}+ \frac{ \vert \sigma _{12} \vert \eta _{m}^{\delta }+ \vert \sigma _{13} \vert }{\Gamma (\delta +1)}+ \frac{ \vert \sigma _{14} \vert }{\Gamma (\delta )} \biggr) \biggr], \\& \Theta _{i} = \biggl[\frac{1}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{9} \vert + \vert \sigma _{16} \vert \eta _{m}^{q+p_{i}}}{\Gamma (q+p_{i}+1)}+ \frac{ \vert \sigma _{10} \vert }{\Gamma (q+p_{i})}+ \frac{ \vert \sigma _{15} \vert \zeta ^{q+p_{i}+1}}{\Gamma (q+p_{i}+2)} \biggr) \biggr], \\& \widehat{\Theta }_{j} = \biggl[ \frac{1}{\Gamma (\delta +\upsilon _{j}+1)}+ \frac{1}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{11} \vert \zeta ^{\delta +\upsilon _{j}+1}}{\Gamma (\delta +\upsilon _{j}+2)}+ \frac{ \vert \sigma _{12} \vert \eta _{m}^{\delta +\upsilon _{j}}+ \vert \sigma _{13} \vert }{\Gamma (\delta +\upsilon _{j}+1)}+ \frac{ \vert \sigma _{14} \vert }{\Gamma (\delta +\upsilon _{j})} \biggr) \biggr]. \end{aligned}$$
(15)
Now we prove the existence and uniqueness of solutions for system (1) by applying the Banach contraction mapping principle.
Theorem 1
Let \(f_{1}, f_{2}, g_{i}, h_{j}:[0,1]\times \mathbb{R}\times \mathbb{R} \rightarrow \mathbb{R}\) (\(i=1,\ldots ,k\)) (\(j=1,\ldots ,l\)) be continuous functions. In addition, we assume that:
- (\(H_{1}\)):
-
There exist constants \(L_{1},L_{2}>0\) such that, \(\forall t\in [0,1]\) and \(x_{\epsilon }, y_{\epsilon }\in \mathbb{R}\), \(\epsilon =1,2\),
$$\begin{aligned}& \bigl\vert f_{1}(t,x_{1},y_{1})-f_{1}(t,x_{2},y_{2}) \bigr\vert \leqslant L_{1}\bigl( \vert x_{1}-y_{1} \vert + \vert x_{2}-y_{2} \vert \bigr), \\& \bigl\vert f_{2}(t,x_{1},y_{1})-f_{2}(t,x_{2},y_{2}) \bigr\vert \leqslant L_{2}\bigl( \vert x_{1}-y_{1} \vert + \vert x_{2}-y_{2} \vert \bigr). \end{aligned}$$
- (\(H_{2}\)):
-
There exist constants \(M_{i},\widehat{M}_{j}>0\) (\(i=1,\ldots ,k\)) (\(j=1,\ldots ,l\)) such that \(\forall t\in [0,1]\) and \(x_{\epsilon }, y_{\epsilon }\in \mathbb{R}\), \(\epsilon =1,2\),
$$\begin{aligned}& \bigl\vert g_{i}(t,x_{1},y_{1})-g_{i}(t,x_{2},y_{2}) \bigr\vert \leqslant M_{i}\bigl( \vert x_{1}-y_{1} \vert + \vert x_{2}-y_{2} \vert \bigr), \\& \bigl\vert h_{j}(t,x_{1},y_{1})-h_{j}(t,x_{2},y_{2}) \bigr\vert \leqslant \widehat{M}_{j}\bigl( \vert x_{1}-y_{1} \vert + \vert x_{2}-y_{2} \vert \bigr). \end{aligned}$$
Then system (1)–(2) has a unique solution on \([0,1]\), provided that \(\Psi <1\), where
$$ \Psi =L_{1}(\varphi _{1}+\vartheta _{1})+L_{2}(\varphi _{2}+ \vartheta _{2})+\sum_{i=1}^{k}M_{i}( \Omega _{i}+\Theta _{i})+ \sum _{j=1}^{l}\widehat{M}_{j}(\widehat{ \Omega }_{j}+ \widehat{\Theta }_{j}). $$
(16)
Proof
Let us define finite numbers \(W_{1}\), \(W_{2}\), \(N_{i}\), \(\widehat{N}_{j}\) as follows:
$$\begin{aligned}& W_{1}=\sup_{t\in [0,1]} \bigl\vert f_{1}(t,0,0) \bigr\vert ,\qquad W_{2}=\sup _{t \in [0,1]} \bigl\vert f_{2}(t,0,0) \bigr\vert , \\& N_{i}=\sup_{t\in [0,1]} \bigl\vert g_{i}(t,0,0) \bigr\vert , \qquad \widehat{N}_{j}=\sup _{t\in [0,1]} \bigl\vert h_{j}(t,0,0) \bigr\vert , \end{aligned}$$
and show that \(\mathcal{Q}B_{r} \subset B_{r}\), where \(B_{r}=\{(x,y)\in \mathcal{S}\times \mathcal{S}:\|(x,y)\|\leq r\}\) with
$$ r> \frac{W_{1}(\varphi _{1}+\vartheta _{1})+W_{2}(\varphi _{2}+\vartheta _{2}) + \sum_{i=1}^{k}N_{i}(\Omega +\Theta _{i})+ \sum_{j=1}^{l}\widehat{N}_{j}(\widehat{\Omega }_{j}+\widehat{\Theta }_{j}) + \vert a_{1} \vert + \vert b_{1} \vert +( \vert \Lambda _{2}+\Lambda _{3} \vert )/ \vert \Lambda _{1} \vert }{1-\Psi }. $$
For any \((x,y)\in B_{r}\), \(t\in [0,1]\), using (\(H_{1}\)), we get
$$\begin{aligned} \bigl\vert f_{1}(t,x,y) \bigr\vert &= \bigl\vert f_{1}(t,x,y)-f_{1}(t,0,0)+f_{1}(t,0,0) \bigr\vert \\ &\leq \bigl\vert f_{1}(t,x,y)-f_{1}(t,0,0) \bigr\vert + \bigl\vert f_{1}(t,0,0) \bigr\vert \\ &\leq L_{1} \bigl( \bigl\vert x(t) \bigr\vert + \bigl\vert y(t) \bigr\vert \bigr)+W_{1} \leq L_{1}\bigl( \Vert x \Vert + \Vert y \Vert \bigr)+ W_{1} \leq L_{1}r+W_{1}. \end{aligned}$$
Similarly, we can find that
$$ \bigl\vert f_{2}(t,x,y) \bigr\vert \leq L_{2}r+W_{2},\qquad \bigl\vert g_{i}(t,x,y) \bigr\vert \leq M_{i} r+N_{i},\qquad \bigl\vert h_{j}(t,x,y) \bigr\vert \leq \widehat{M}_{j} r+ \widehat{N}_{j}. $$
Then
$$\begin{aligned}& \bigl\Vert \mathcal{Q}_{1}(x,y) \bigr\Vert \\& \quad \leq \sup_{t\in [0,1]} \Biggl\{ \int _{0}^{t} \frac{(t-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert \,ds+\sum _{i=1}^{k} \int _{0}^{t} \frac{(t-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} \bigl\vert g_{i} \bigl(s,x(s),y(s) \bigr) \bigr\vert \,ds \\& \qquad {} + \vert a_{1} \vert +\frac{t}{ \vert \Lambda _{1} \vert } \Biggl[ \vert \sigma _{1} \vert \int _{0}^{1} \Biggl(\frac{(1-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert \\& \qquad {} +\sum_{i=1}^{k} \frac{(1-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} \bigl\vert g_{i} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{2} \vert \int _{0}^{1} \Biggl(\frac{(1-s)^{q-2}}{\Gamma (q-1)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert +\sum _{i=1}^{k} \frac{(1-s)^{q+p_{i}-2}}{\Gamma (q+p_{i}-1)} \bigl\vert g_{i} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr) \,ds \\& \qquad {} + \vert \sigma _{3} \vert \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(u,x(u),y(u) \bigr) \bigr\vert \,du \,ds \\& \qquad {} +\sum_{j=1}^{l} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} \int _{0}^{u} \frac{(u-w)^{\upsilon _{j}-1}}{\Gamma (\upsilon _{j} )} \bigl\vert h_{j} \bigl(w,x(w),y(w) \bigr) \bigr\vert \,dw \,du \,ds \Biggr) \\& \qquad {} + \vert \sigma _{4} \vert \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(s,x(s),y(s) \bigr) \bigr\vert + \sum _{j=1}^{l} \frac{(\eta _{m}-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j})} \bigl\vert h_{j} \bigl(s,x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{5} \vert \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(s,x(s),y(s) \bigr) \bigr\vert +\sum _{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j} )} \bigl\vert h_{j} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{6} \vert \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -2}}{\Gamma (\delta -1)} \bigl\vert f_{2} \bigl(s,x(s),y(s) \bigr) \bigr\vert + \sum _{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-2}}{\Gamma (\delta +\upsilon _{j}-1)} \bigl\vert h_{j} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{7} \vert \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(u,x(u),y(u) \bigr) \bigr\vert \,du \,ds \\& \qquad {} +\sum_{i=1}^{k} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{q-1}}{\Gamma (q)} \int _{0}^{u} \frac{(u-w)^{p_{i}-1}}{\Gamma (p_{i} )} \bigl\vert g_{i} \bigl(w,x(w),y(w) \bigr) \bigr\vert \,dw \,du \,ds \Biggr) \\& \qquad {} + \vert \sigma _{8} \vert \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert \\& \qquad {} +\sum_{i=1}^{k} \frac{(\eta _{m}-s)^{q+p_{i}-1}}{\Gamma (q+p_{i})} \bigl\vert g_{i} \bigl(s,x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds+ \vert \Lambda _{2} \vert \Biggr] \Biggr\} \\& \quad \leq (L_{1}r+W_{1})\sup_{t\in [0,1]} \Biggl\{ \biggl[ \frac{t^{q}}{\Gamma (q+1)}+\frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{1} \vert }{\Gamma (q+1)}+\frac{ \vert \sigma _{2} \vert }{\Gamma (q)}+ \frac{ \vert \sigma _{7} \vert \zeta ^{q+1}}{\Gamma (q+2)}+ \frac{ \vert \sigma _{8} \vert \eta _{m}^{q}}{\Gamma (q+1)} \biggr) \biggr] \\& \qquad {} +(L_{2}r+W_{2}) \biggl[\frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{3} \vert \zeta ^{\delta +1}}{\Gamma (\delta +2)}+ \frac{ \vert \sigma _{4} \vert \eta _{m}^{\delta }}{\Gamma (\delta +1)}+ \frac{ \vert \sigma _{5} \vert }{\Gamma (\delta +1)}+ \frac{ \vert \sigma _{6} \vert }{\Gamma (\delta )} \biggr) \biggr] \\& \qquad {} +\sum_{i=1}^{k}(M_{i} r+N_{i}) \biggl[ \frac{t^{q+p_{i}}}{\Gamma (q+p_{i}+1)}+\frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{1} \vert }{\Gamma (q+p_{i}+1)}+ \frac{ \vert \sigma _{2} \vert }{\Gamma (q+p_{i})}+ \frac{ \vert \sigma _{7} \vert \zeta ^{q+p_{i}+1}}{\Gamma (q+p_{i}+2)} \\& \qquad {} + \frac{ \vert \sigma _{8} \vert \eta _{m}^{q+p_{i}}}{\Gamma (q+p_{i}+1)} \biggr) \biggr]+\sum_{j=1}^{l}( \widehat{M}_{j} r+\widehat{N}_{j}) \biggl[ \frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{3} \vert \zeta ^{\delta +\upsilon _{j}+1}}{\Gamma (\delta +\upsilon _{j}+2)}+ \frac{ \vert \sigma _{4} \vert \eta _{m}^{\delta +\upsilon _{j}}}{\Gamma (\delta +\upsilon _{j}+1)} \\& \qquad {} + \frac{ \vert \sigma _{5} \vert }{\Gamma (\delta +\upsilon _{j}+1)}+ \frac{ \vert \sigma _{6} \vert }{\Gamma (\delta +\upsilon _{j})} \biggr) \biggr]+ \biggl( \vert a_{1} \vert +\frac{t \vert \Lambda _{2} \vert }{ \vert \Lambda _{1} \vert } \biggr) \Biggr\} \\& \quad \leq \Biggl(L_{1}\varphi _{1}+L_{2} \varphi _{2}+\sum_{i=1}^{k}M_{i} \Omega _{i}+\sum_{j=1}^{l} \widehat{M}_{j} \widehat{\Omega }_{j} \Biggr)r+W_{1}\varphi _{1}+W_{2}\varphi _{2}+\sum_{i=1}^{k}N_{i} \Omega _{i} \\& \qquad {} +\sum_{j=1}^{l}\widehat{N}_{j} \widehat{\Omega }_{j}+ \vert a_{1} \vert + \biggl\vert \frac{\Lambda _{2}}{\Lambda _{1}} \biggr\vert . \end{aligned}$$
Similarly, we can find that
$$\begin{aligned} \bigl\Vert \mathcal{Q}_{2}(x,y) \bigr\Vert \leq & \Biggl(L_{1}\vartheta _{1}+L_{2} \vartheta _{2}+\sum_{i=1}^{k}M_{i} \Theta _{i}+\sum_{j=1}^{l} \widehat{M}_{j} \widehat{\Theta }_{j} \Biggr)r+W_{1} \vartheta _{1}+W_{2} \vartheta _{2}+\sum_{i=1}^{k}N_{i} \Theta _{i} \\ &{}+\sum_{j=1}^{l}\widehat{N}_{j} \widehat{\Theta }_{j}+ \vert b_{1} \vert + \biggl\vert \frac{\Lambda _{3}}{\Lambda _{1}} \biggr\vert . \end{aligned}$$
Consequently, in view of (16), we get
$$\begin{aligned} \bigl\Vert \mathcal{Q}(x,y) \bigr\Vert \leq & \Psi r+W_{1}( \varphi _{1}+ \vartheta _{1})+W_{2}( \varphi _{2}+ \vartheta _{2})+\sum _{i=1}^{k}N_{i}( \Omega _{i}+ \Theta _{i})+\sum_{j=1}^{l} \widehat{N}_{j}(\widehat{ \Omega }_{j}+ \widehat{\Theta }_{j}) \\ &{}+ \vert a_{1} \vert + \vert b_{1} \vert + \biggl\vert \frac{\Lambda _{2}+\Lambda _{3}}{\Lambda _{1}} \biggr\vert \leq r, \end{aligned}$$
which implies that \(\mathcal{Q} B_{r}\subset B_{r}\). Next we show that the operator \(\mathcal{Q}\) is a contraction. Using conditions (\(H_{1}\)) and (\(H_{2}\)), for any \((x_{1},y_{1}),(x_{2},y_{2})\in \mathcal{S} \times \mathcal{S}\), \(t \in [0,1]\), we get
$$\begin{aligned}& \bigl\Vert \mathcal{Q}_{1}(x_{1},y_{1})- \mathcal{Q}_{1}(x_{2},y_{2}) \bigr\Vert \\ & \quad \leq \sup_{t\in [0,1]} \Biggl\{ \int _{0}^{t} \frac{(t-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-f_{1} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \,ds \\ & \qquad {} +\sum_{i=1}^{k} \int _{0}^{t} \frac{(t-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} \bigl\vert g_{i} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-g_{i} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \,ds \\ & \qquad {} + \frac{t}{ \vert \Lambda _{1} \vert } \Biggl[ \vert \sigma _{1} \vert \int _{0}^{1} \Biggl( \frac{(1-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-f_{1} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \\ & \qquad {} +\sum_{i=1}^{k} \frac{(1-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} \bigl\vert g_{i} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-g_{i} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \Biggr)\,ds \\ & \qquad {} + \vert \sigma _{2} \vert \int _{0}^{1} \Biggl(\frac{(1-s)^{q-2}}{\Gamma (q-1)} \bigl\vert f_{1} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-f_{1} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \\ & \qquad {} +\sum_{i=1}^{k} \frac{(1-s)^{q+p_{i}-2}}{\Gamma (q+p_{i}-1)} \bigl\vert g_{i} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-g_{i} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \Biggr) \,ds \\ & \qquad {} + \vert \sigma _{3} \vert \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(u,x_{1}(u),y_{1}(u) \bigr)-f_{2} \bigl(u,x_{2}(u),y_{2}(u) \bigr) \bigr\vert \,du \,ds \\ & \qquad {} +\sum_{j=1}^{l} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} \int _{0}^{u} \frac{(u-w)^{\upsilon _{j}-1}}{\Gamma (\upsilon _{j} )} \bigl\vert h_{j} \bigl(w,x_{1}(w),y_{1}(w) \bigr) \\ & \qquad {} -h_{j} \bigl(w,x_{2}(w),y_{2}(w) \bigr) \bigr\vert \,dw \,du \,ds \Biggr) \\ & \qquad {} + \vert \sigma _{4} \vert \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-f_{2} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \\ & \qquad {} +\sum_{j=1}^{l} \frac{(\eta _{m}-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j})} \bigl\vert h_{j} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-h_{j} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \Biggr)\,ds \\ & \qquad {} + \vert \sigma _{5} \vert \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-f_{2} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \\ & \qquad {} +\sum_{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j} )} \bigl\vert h_{j} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-h_{j} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{6} \vert \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -2}}{\Gamma (\delta -1)} \bigl\vert f_{2} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-f_{2} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \\& \qquad {} +\sum_{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-2}}{\Gamma (\delta +\upsilon _{j}-1)} \bigl\vert h_{j} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-h_{j} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{7} \vert \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(u,x_{1}(u),y_{1}(u) \bigr)-f_{1} \bigl(u,x_{2}(u),y_{2}(u) \bigr) \bigr\vert \,du \,ds \\& \qquad {} +\sum_{i=1}^{k} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{q-1}}{\Gamma (q)} \int _{0}^{u} \frac{(u-w)^{p_{i}-1}}{\Gamma (p_{i} )} \bigl\vert g_{i} \bigl(w,x_{1}(w),y_{1}(w) \bigr) \\& \qquad {} -g_{i} \bigl(w,x_{2}(w),y_{2}(w) \bigr) \bigr\vert \,dw \,du \,ds \Biggr) \\& \qquad {} + \vert \sigma _{8} \vert \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-f_{1} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \\& \qquad {} +\sum_{i=1}^{k} \frac{(\eta _{m}-s)^{q+p_{i}-1}}{\Gamma (q+p_{i})} \bigl\vert g_{i} \bigl(s,x_{1}(s),y_{1}(s) \bigr)-g_{i} \bigl(s,x_{2}(s),y_{2}(s) \bigr) \bigr\vert \Biggr)\,ds \Biggr] \Biggr\} \\& \quad \leq L_{1}\bigl( \Vert x_{1}-x_{2} \Vert + \Vert y_{1}-y_{2} \Vert \bigr)\sup _{t\in [0,1]} \Biggl\{ \biggl[\frac{t^{q}}{\Gamma (q+1)}+ \frac{t}{ \vert \Lambda _{1} \vert } \biggl(\frac{ \vert \sigma _{1} \vert }{\Gamma (q+1)}+ \frac{ \vert \sigma _{2} \vert }{\Gamma (q)}+ \frac{ \vert \sigma _{7} \vert \zeta ^{q+1}}{\Gamma (q+2)} \\& \qquad {} +\frac{ \vert \sigma _{8} \vert \eta _{m}^{q}}{\Gamma (q+1)} \biggr) \biggr]+L_{2}\bigl( \Vert x_{1}-x_{2} \Vert + \Vert y_{1}-y_{2} \Vert \bigr) \\& \qquad {} \times \biggl[\frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{3} \vert \zeta ^{\delta +1}}{\Gamma (\delta +2)}+ \frac{ \vert \sigma _{4} \vert \eta _{m}^{\delta }}{\Gamma (\delta +1)}+ \frac{ \vert \sigma _{5} \vert }{\Gamma (\delta +1)}+ \frac{ \vert \sigma _{6} \vert }{\Gamma (\delta )} \biggr) \biggr] \\& \qquad {} +\sum_{i=1}^{k}M_{i} \bigl( \Vert x_{1}-x_{2} \Vert + \Vert y_{1}-y_{2} \Vert \bigr) \biggl[\frac{t^{q+p_{i}}}{\Gamma (q+p_{i}+1)}+ \frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{1} \vert }{\Gamma (q+p_{i}+1)}+ \frac{ \vert \sigma _{2} \vert }{\Gamma (q+p_{i})} \\& \qquad {} + \frac{ \vert \sigma _{7} \vert \zeta ^{q+p_{i}+1}}{\Gamma (q+p_{i}+2)}+ \frac{ \vert \sigma _{8} \vert \eta _{m}^{q+p_{i}}}{\Gamma (q+p_{i}+1)} \biggr) \biggr]+\sum _{j=1}^{l}\widehat{M}_{j} \bigl( \Vert x_{1}-x_{2} \Vert + \Vert y_{1}-y_{2} \Vert \bigr) \\& \qquad {} \times \biggl[\frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{3} \vert \zeta ^{\delta +\upsilon _{j}+1}}{\Gamma (\delta +\upsilon _{j}+2)} + \frac{ \vert \sigma _{4} \vert \eta _{m}^{\delta +\upsilon _{j}}}{\Gamma (\delta +\upsilon _{j}+1)}+ \frac{ \vert \sigma _{5} \vert }{\Gamma (\delta +\upsilon _{j}+1)}+ \frac{ \vert \sigma _{6} \vert }{\Gamma (\delta +\upsilon _{j})} \biggr) \biggr] \Biggr\} \\& \quad \leq \Biggl(L_{1}\varphi _{1}+L_{2} \varphi _{2}+\sum_{i=1}^{k}M_{i} \Omega _{i}+\sum_{j=1}^{l} \widehat{M}_{j}\widehat{\Omega }_{j} \Biggr) \bigl( \Vert x_{1}-x_{2} \Vert + \Vert y_{1}-y_{2} \Vert \bigr), \end{aligned}$$
which yields
$$\begin{aligned}& \bigl\Vert \mathcal{Q}_{1}(x_{1},y_{1})- \mathcal{Q}_{1}(x_{2},y_{2}) \bigr\Vert \\& \quad \leq \Biggl(L_{1}\varphi _{1}+L_{2}\varphi _{2}+\sum_{i=1}^{k}M_{i} \Omega _{i}+\sum_{j=1}^{l} \widehat{M}_{j}\widehat{\Omega }_{j} \Biggr) \bigl( \Vert x_{1}-x_{2} \Vert + \Vert y_{1}-y_{2} \Vert \bigr). \end{aligned}$$
Similarly, we find that
$$\begin{aligned}& \bigl\Vert \mathcal{Q}_{2}(x_{1},y_{1})- \mathcal{Q}_{2}(x_{2},y_{2}) \bigr\Vert \\& \quad \leq \Biggl(L_{1}\vartheta _{1}+L_{2} \vartheta _{2}+\sum_{i=1}^{k}M_{i} \Theta _{i}+\sum_{j=1}^{l} \widehat{M}_{j}\widehat{\Theta }_{j} \Biggr) \bigl( \Vert x_{1}-x_{2} \Vert + \Vert y_{1}-y_{2} \Vert \bigr). \end{aligned}$$
Consequently, we get
$$ \bigl\Vert \mathcal{Q}(x_{1},y_{1})- \mathcal{Q}(x_{2},y_{2}) \bigr\Vert \leq \Psi \bigl( \Vert x_{1}-x_{2} \Vert + \Vert y_{1}-y_{2} \Vert \bigr), $$
which shows that \(\mathcal{Q}\) is a contraction in view of the given condition \(\Psi <1\). So, by the Banach contraction mapping principle, the operator \(\mathcal{Q}\) has a unique fixed point. Therefore, system (1)–(2) has a unique solution on \([0,1]\). This completes the proof. □
In the following result, we apply the Leray–Schauder alternative [23] to prove the existence of solutions for system (1)–(2).
Lemma 3
(Leray–Schauder alternative)
Let \(\mathcal{J}:\mathcal{U}\rightarrow \mathcal{U}\) be a completely continuous operator (i.e., a map that restricted to any bounded set in \(\mathcal{U}\) is compact). Let
$$ \mathcal{G}(\mathcal{J})= \bigl\{ x \in \mathcal{U}: x=\lambda \mathcal{J}(x) \textit{ for some } 0< \lambda < 1 \bigr\} . $$
Then either the set \(\mathcal{G}(\mathcal{J})\) is unbounded, or \(\mathcal{J}\) has at lest one fixed point.
Theorem 2
Let \(f_{1}, f_{2}, g_{i}, h_{j}:[0,1]\times \mathbb{R}\times \mathbb{R} \rightarrow \mathbb{R}\) (\(i=1,\ldots ,k\)) (\(j=1,\ldots ,l\)) be continuous functions such that the following condition holds:
- (\(H_{3}\)):
-
There exist real constants \(\kappa _{\epsilon }, \hat{\kappa }_{\epsilon }, \rho _{i,\epsilon }, \hat{\rho }_{j,\epsilon }\ge 0\) (\(\epsilon =1,2\)) and \(\kappa _{0}, \hat{\kappa }_{0}, \rho _{i,0}, \hat{\rho }_{j,0}> 0\) such that, for \(x,y \in \mathbb{R}\),
$$\begin{aligned}& \bigl\vert f_{1}(t,x,y) \bigr\vert \leqslant \kappa _{0}+\kappa _{1} \vert x \vert + \kappa _{2} \vert y \vert ,\qquad \bigl\vert f_{2}(t,x,y) \bigr\vert \leqslant \hat{\kappa }_{0}+ \hat{\kappa }_{1} \vert x \vert +\hat{\kappa }_{2} \vert y \vert , \\& \bigl\vert g_{i}(t,x,y) \bigr\vert \leqslant \rho _{i,0}+\rho _{i,1} \vert x \vert +\rho _{i,2} \vert y \vert ,\qquad \bigl\vert h_{j}(t,x,y) \bigr\vert \leqslant \hat{\rho }_{j,0}+\hat{\rho }_{j,1} \vert x \vert + \hat{\rho }_{j,2} \vert y \vert . \end{aligned}$$
Then, system (1)–(2) has at least one solution on \([0,1]\) provided that
$$\begin{aligned}& (\varphi _{1}+\vartheta _{1})\kappa _{1}+(\varphi _{2}+\vartheta _{2}) \hat{ \kappa }_{1}+(\Omega _{i}+\Theta _{i})\rho _{i,1}+( \widehat{\Omega }_{j}+\widehat{\Theta }_{j})\hat{\rho }_{j,1}< 1, \\& (\varphi _{1}+\vartheta _{1})\kappa _{2}+(\varphi _{2}+\vartheta _{2}) \hat{ \kappa }_{2}+(\Omega _{i}+\Theta _{i})\rho _{i,2}+( \widehat{\Omega }_{j}+\widehat{\Theta }_{j})\hat{\rho }_{j,2}< 1, \end{aligned}$$
(17)
where \(\Omega _{i}\), \(\widehat{\Omega }_{j}\) and \(\varphi _{\epsilon }\), \(\epsilon =1,2\), are given by (14), and \(\Theta _{i}\), \(\widehat{\Theta }_{j}\) and \(\vartheta _{\epsilon }\), \(\epsilon =1,2\), are defined by (15).
Proof
In the first step, we show that the operator \(\mathcal{Q}:\mathcal{S}\times \mathcal{S}\rightarrow \mathcal{S} \times \mathcal{S}\) is completely continuous. Notice that the operator \(\mathcal{Q}\) is continuous in view of the continuity of the functions \(f_{1}\), \(f_{2}\), \(g_{i}\), and \(h_{j}\).
Let \(\mathcal{K}\subset \mathcal{S}\times \mathcal{S}\) be bounded. Then, for all \((x,y)\in \mathcal{K}\), there exist constants \(\tau _{1}\), \(\tau _{2}\), \(\varpi _{i}\), and \(\widehat{\varpi }_{j}\) such that \(\vert f_{1}(t,x(t),y(t)) \vert \leqslant \tau _{1}\), \(\vert f_{2}(t,x(t),y(t)) \vert \leqslant \tau _{2}\), \(|g_{i}(t,x(t),y(t))|\leqslant \varpi _{i}\), \(|h_{j}(t,x(t),y(t))|\leqslant \widehat{\varpi }_{j}\) (\(i=1,\ldots ,k\)) (\(j=1,\ldots ,l\)). Then, for any \((x,y)\in \mathcal{K}\), we have
$$\begin{aligned}& \bigl\Vert \mathcal{Q}_{1}(x,y) \bigr\Vert \\& \quad \leq \sup_{t\in [0,1]} \Biggl\{ \int _{0}^{t} \frac{(t-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert \,ds+\sum _{i=1}^{k} \int _{0}^{t} \frac{(t-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} \bigl\vert g_{i} \bigl(s,x(s),y(s) \bigr) \bigr\vert \,ds \\& \qquad {} + \vert a_{1} \vert +\frac{t}{ \vert \Lambda _{1} \vert } \Biggl[ \vert \sigma _{1} \vert \int _{0}^{1} \Biggl(\frac{(1-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert \\& \qquad {} +\sum_{i=1}^{k} \frac{(1-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} \bigl\vert g_{i} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{2} \vert \int _{0}^{1} \Biggl(\frac{(1-s)^{q-2}}{\Gamma (q-1)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert +\sum _{i=1}^{k} \frac{(1-s)^{q+p_{i}-2}}{\Gamma (q+p_{i}-1)} \bigl\vert g_{i} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr) \,ds \\& \qquad {} + \vert \sigma _{3} \vert \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(u,x(u),y(u) \bigr) \bigr\vert \,du \,ds \\& \qquad {} +\sum_{j=1}^{l} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} \int _{0}^{u} \frac{(u-w)^{\upsilon _{j}-1}}{\Gamma (\upsilon _{j} )} \bigl\vert h_{j} \bigl(w,x(w),y(w) \bigr) \bigr\vert \,dw \,du \,ds \Biggr) \\& \qquad {} + \vert \sigma _{4} \vert \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(s,x(s),y(s) \bigr) \bigr\vert + \sum _{j=1}^{l} \frac{(\eta _{m}-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j})} \bigl\vert h_{j} \bigl(s,x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{5} \vert \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(s,x(s),y(s) \bigr) \bigr\vert +\sum _{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j} )} \bigl\vert h_{j} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{6} \vert \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -2}}{\Gamma (\delta -1)} \bigl\vert f_{2} \bigl(s,x(s),y(s) \bigr) \bigr\vert + \sum _{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-2}}{\Gamma (\delta +\upsilon _{j}-1)} \bigl\vert h_{j} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{7} \vert \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(u,x(u),y(u) \bigr) \bigr\vert \,du \,ds \\& \qquad {} +\sum_{i=1}^{k} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{q-1}}{\Gamma (q)} \int _{0}^{u} \frac{(u-w)^{p_{i}-1}}{\Gamma (p_{i} )} \bigl\vert g_{i} \bigl(w,x(w),y(w) \bigr) \bigr\vert \,dw \,du \,ds \Biggr) \\& \qquad {} + \vert \sigma _{8} \vert \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert \\& \qquad {} +\sum_{i=1}^{k} \frac{(\eta _{m}-s)^{q+p_{i}-1}}{\Gamma (q+p_{i})} \bigl\vert g_{i} \bigl(s,x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds+ \vert \Lambda _{2} \vert \Biggr] \Biggr\} \\& \quad \leq \tau _{1} \sup_{t\in [0,1]} \Biggl\{ \biggl[ \frac{t^{q}}{\Gamma (q+1)}+\frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{1} \vert }{\Gamma (q+1)}+ \frac{ \vert \sigma _{2} \vert }{\Gamma (q)}+ \frac{ \vert \sigma _{7} \vert \zeta ^{q+1}}{\Gamma (q+2)}+ \frac{ \vert \sigma _{8} \vert \eta _{m}^{q}}{\Gamma (q+1)} \biggr) \biggr] \\& \qquad {} +\tau _{2} \biggl[\frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{3} \vert \zeta ^{\delta +1}}{\Gamma (\delta +2)}+ \frac{ \vert \sigma _{4} \vert \eta _{m}^{\delta }}{\Gamma (\delta +1)}+ \frac{ \vert \sigma _{5} \vert }{\Gamma (\delta +1)}+ \frac{ \vert \sigma _{6} \vert }{\Gamma (\delta )} \biggr) \biggr] \\& \qquad {} +{\sum_{i=1}^{k}} \varpi _{i} \biggl[ \frac{t^{q+p_{i}}}{\Gamma (q+p_{i}+1)}+\frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{1} \vert }{\Gamma (q+p_{i}+1)}+ \frac{ \vert \sigma _{2} \vert }{\Gamma (q+p_{i})}+ \frac{ \vert \sigma _{7} \vert \zeta ^{q+p_{i}+1}}{\Gamma (q+p_{i}+2)} \\& \qquad {} + \frac{ \vert \sigma _{8} \vert \eta _{m}^{q+p_{i}}}{\Gamma (q+p_{i}+1)} \biggr) \biggr]+{\sum_{j=1}^{l}} \widehat{\varpi }_{j} \biggl[ \frac{t}{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{3} \vert \zeta ^{\delta +\upsilon _{j}+1}}{\Gamma (\delta +\upsilon _{j}+2)}+ \frac{ \vert \sigma _{4} \vert \eta _{m}^{\delta +\upsilon _{j}}}{\Gamma (\delta +\upsilon _{j}+1)} \\& \qquad {} + \frac{ \vert \sigma _{5} \vert }{\Gamma (\delta +\upsilon _{j}+1)}+ \frac{ \vert \sigma _{6} \vert }{\Gamma (\delta +\upsilon _{j})} \biggr) \biggr]+ \biggl( \vert a_{1} \vert + \biggl\vert \frac{\Lambda _{2}}{\Lambda _{1}} \biggr\vert \biggr) \Biggr\} \\& \quad = \tau _{1} \varphi _{1}+\tau _{2} \varphi _{2}+{\sum_{i=1}^{k}} \varpi _{i} \Omega _{i}+{\sum _{j=1}^{l}}\widehat{\varpi }_{j} \widehat{\Omega }_{j}+ \vert a_{1} \vert + \biggl\vert \frac{\Lambda _{2}}{\Lambda _{1}} \biggr\vert , \end{aligned}$$
which implies that
$$ \bigl\Vert \mathcal{Q}_{1}(x,y) \bigr\Vert \leq \tau _{1} \varphi _{1}+\tau _{2} \varphi _{2}+{\sum_{i=1}^{k}}\varpi _{i} \Omega _{i}+{\sum_{j=1}^{l}} \widehat{\varpi }_{j} \widehat{\Omega }_{j}+ \vert a_{1} \vert + \biggl\vert \frac{\Lambda _{2}}{\Lambda _{1}} \biggr\vert . $$
Similarly, we can find that
$$ \bigl\Vert \mathcal{Q}_{2}(x,y) \bigr\Vert \leq \tau _{1} \vartheta _{1}+\tau _{2} \vartheta _{2}+{\sum_{i=1}^{k}}\varpi _{i} \Theta _{i}+{ \sum_{j=1}^{l}} \widehat{\varpi }_{j} \widehat{\Theta }_{j}+ \vert b_{1} \vert + \biggl\vert \frac{\Lambda _{3}}{\Lambda _{1}} \biggr\vert . $$
Consequently, we get
$$\begin{aligned} \bigl\Vert \mathcal{Q}(x,y) \bigr\Vert \leq &(\varphi _{1}+ \vartheta _{1}) \tau _{1}+( \varphi _{2}+ \vartheta _{2}) \tau _{2}+\sum _{i=1}^{k}( \Omega _{i}+\Theta _{i}) \varpi _{i} \\ &{}+\sum_{j=1}^{l}(\widehat{\Omega }_{j}+\widehat{\Theta }_{j}) \widehat{\varpi }_{j}+ \vert a_{1} \vert + \vert b_{1} \vert + \biggl\vert \frac{\Lambda _{2}+\Lambda _{3}}{\Lambda _{1}} \biggr\vert . \end{aligned}$$
Therefore, the operator \(\mathcal{Q}\) is uniformly bounded. Next, we show that \(\mathcal{Q}\) is equicontinuous. Let \(t\in [0,1]\) with \(t_{2}< t_{1}\). Then we have
$$\begin{aligned}& \bigl\vert \mathcal{Q}_{1}(x,y) (t_{1})- \mathcal{Q}_{1}(x,y) (t_{2}) \bigr\vert \\& \quad \leq \biggl\vert \int _{0}^{t_{2}} \frac{(t_{1}-s)^{q-1}-(t_{2}-s)^{q-1}}{\Gamma (q)}f_{1} \bigl(s, x(s),y(s) \bigr)\,ds \biggr\vert + \biggl\vert \int _{t_{2}}^{t_{1}} \frac{(t_{1}-s)^{q-1}}{\Gamma (q)}f_{1} \bigl(s, x(s),y(s) \bigr)\,ds \biggr\vert \\& \qquad {} + \Biggl\vert \sum_{i=1}^{k} \int _{0}^{t_{2}} \frac{(t_{1}-s)^{q+p_{i}-1}-(t_{2}-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} g_{i} \bigl(s,x(s),y(s) \bigr) \,ds \Biggr\vert \\& \qquad {} + \biggl\vert \int _{t_{2}}^{t_{1}} \frac{(t_{1}-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} g_{i} \bigl(s,x(s) \bigr) \,ds \biggr\vert \\& \qquad {} +\frac{ \vert t_{1}-t_{2} \vert }{ \vert \Lambda _{1} \vert } \Biggl[ \vert \sigma _{1} \vert \int _{0}^{1} \Biggl(\frac{(1-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert \\& \qquad {}+\sum _{i=1}^{k} \frac{(1-s)^{q+p_{i}-1}}{\Gamma (q+p_{i} )} \bigl\vert g_{i} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds \\& \qquad {} + \vert \sigma _{2} \vert \int _{0}^{1} \Biggl(\frac{(1-s)^{q-2}}{\Gamma (q-1)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert +\sum _{i=1}^{k} \frac{(1-s)^{q+p_{i}-2}}{\Gamma (q+p_{i}-1)} \bigl\vert g_{i} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr) \,ds \\& \qquad {} + \vert \sigma _{3} \vert \Biggl( \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(u,x(u),y(u) \bigr) \bigr\vert \,du \,ds+ \sum _{j=1}^{l} \int _{0}^{\zeta } \int _{0}^{s} \frac{(s-u)^{\delta -1}}{\Gamma (\delta )} \\& \qquad {} \times \int _{0}^{u} \frac{(u-w)^{\upsilon _{j}-1}}{\Gamma (\upsilon _{j} )} \bigl\vert h_{j} \bigl(w,x(w),y(w) \bigr) \bigr\vert \,dw \,du \,ds \Biggr) \\& \qquad {}+ \vert \sigma _{4} \vert \int _{0}^{\eta _{m}} \Biggl( \frac{(\eta _{m}-s)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(s,x(s),y(s) \bigr) \bigr\vert \\& \qquad {} +\sum_{j=1}^{l} \frac{(\eta _{m}-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j})} \bigl\vert h_{j} \bigl(s,x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds+ \vert \sigma _{5} \vert \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -1}}{\Gamma (\delta )} \bigl\vert f_{2} \bigl(s,x(s),y(s) \bigr) \bigr\vert \\& \qquad {} +\sum_{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-1}}{\Gamma (\delta +\upsilon _{j} )} \bigl\vert h_{j} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds+ \vert \sigma _{6} \vert \int _{0}^{1} \Biggl( \frac{(1-s)^{\delta -2}}{\Gamma (\delta -1)} \bigl\vert f_{2} \bigl(s,x(s),y(s) \bigr) \bigr\vert \\& \qquad {} +\sum_{j=1}^{l} \frac{(1-s)^{\delta +\upsilon _{j}-2}}{\Gamma (\delta +\upsilon _{j}-1)} \bigl\vert h_{j} \bigl(s, x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds+ \vert \sigma _{7} \vert \Biggl( \int _{0}^{\zeta } \int _{0}^{s}\frac{(s-u)^{q-1}}{\Gamma (q)} \\& \qquad {} \times \bigl\vert f_{1} \bigl(u,x(u),y(u) \bigr) \bigr\vert \,du \,ds+\sum_{i=1}^{k} \int _{0}^{\zeta } \int _{0}^{s}\frac{(s-u)^{q-1}}{\Gamma (q)} \int _{0}^{u} \frac{(u-w)^{p_{i}-1}}{\Gamma (p_{i} )} \\& \qquad {} \times \bigl\vert g_{i} \bigl(w,x(w),y(w) \bigr) \bigr\vert \,dw \,du \,ds \Biggr)+ \vert \sigma _{8} \vert \int _{0}^{\eta _{m}} \Biggl(\frac{(\eta _{m}-s)^{q-1}}{\Gamma (q)} \bigl\vert f_{1} \bigl(s,x(s),y(s) \bigr) \bigr\vert \\& \qquad {} +\sum_{i=1}^{k} \frac{(\eta _{m}-s)^{q+p_{i}-1}}{\Gamma (q+p_{i})} \bigl\vert g_{i} \bigl(s,x(s),y(s) \bigr) \bigr\vert \Biggr)\,ds \Biggr] \\& \quad \leq \tau _{1} \Biggl\{ \biggl[ \frac{ \vert 2 (t_{1}-t_{2} )^{q} \vert +|t_{1}^{q}-t_{2}^{q} \vert }{\Gamma (q+1)}+ \frac{ \vert t_{1}-t_{2} \vert }{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{1} \vert }{\Gamma (q+1)}+\frac{ \vert \sigma _{2} \vert }{\Gamma (q)}+ \frac{ \vert \sigma _{7} \vert \zeta ^{q+1}}{\Gamma (q+2)} \\& \qquad {} +\frac{ \vert \sigma _{8} \vert \eta _{m}^{q}}{\Gamma (q+1)} \biggr) \biggr] + \tau _{2} \biggl[ \frac{ \vert t_{1}-t_{2} \vert }{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{3} \vert \zeta ^{\delta +1}}{\Gamma (\delta +2)}+ \frac{ \vert \sigma _{4} \vert \eta _{m}^{\delta }}{\Gamma (\delta +1)}+ \frac{ \vert \sigma _{5} \vert }{\Gamma (\delta +1)}+ \frac{ \vert \sigma _{6} \vert }{\Gamma (\delta )} \biggr) \biggr] \\& \qquad {} +{\sum_{i=1}^{k}} \varpi _{i} \biggl[ \frac{ \vert 2 (t_{1}-t_{2} )^{q+p_{i}} \vert + \vert -t_{1}^{q+p_{i}}+t_{2}^{q+p_{i}} \vert }{\Gamma (q+p_{i}+1)}+ \frac{ \vert t_{1}-t_{2} \vert }{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{1} \vert }{\Gamma (q+p_{i}+1)}+ \frac{ \vert \sigma _{2} \vert }{\Gamma (q+p_{i})} \\& \qquad {} + \frac{ \vert \sigma _{7} \vert \zeta ^{q+p_{i}+1}}{\Gamma (q+p_{i}+2)} + \frac{ \vert \sigma _{8} \vert \eta _{m}^{q+p_{i}}}{\Gamma (q+p_{i}+1)} \biggr) \biggr] \\& \qquad {}+{\sum _{j=1}^{l}} \widehat{\varpi }_{j} \biggl[ \frac{ \vert t_{1}-t_{2} \vert }{ \vert \Lambda _{1} \vert } \biggl( \frac{ \vert \sigma _{3} \vert \zeta ^{\delta +\upsilon _{j}+1}}{\Gamma (\delta +\upsilon _{j}+2)}+ \frac{ \vert \sigma _{4} \vert \eta _{m}^{\delta +\upsilon _{j}}}{\Gamma (\delta +\upsilon _{j}+1)} \\& \qquad {} + \frac{ \vert \sigma _{5} \vert }{\Gamma (\delta +\upsilon _{j}+1)}+ \frac{ \vert \sigma _{6} \vert }{\Gamma (\delta +\upsilon _{j})} \biggr) \biggr] \Biggr\} . \end{aligned}$$
Clearly, the operator \(\mathcal{Q}\) is equicontinuous. Therefore, it follows that the operator \(\mathcal{Q}(x,y)\) is completely continuous.
Finally, we show that the set \(\mathcal{P}=\{(x,y)\in \mathcal{S}\times \mathcal{S}|(x,y)=\lambda \mathcal{Q}(x,y), 0\leq \lambda \leq 1\}\) is bounded. Let \((x,y)\in \mathcal{P}\), with \((x,y)=\lambda \mathcal{Q}(x,y)\) and for any \(t\in [0,1]\), we have
$$ x(t)=\lambda \mathcal{Q}_{1}(x,y) (t), \qquad y(t)=\lambda \mathcal{Q}_{2}(x,y) (t). $$
In view of condition (\(H_{3}\)), we can find that
$$\begin{aligned} \bigl\vert x(t) \bigr\vert \leq & \varphi _{1}\bigl(\kappa _{0}+\kappa _{1} \vert x \vert +\kappa _{2} \vert y \vert \bigr)+ \varphi _{2}\bigl( \hat{ \kappa }_{0}+\hat{\kappa }_{1} \vert x \vert +\hat{ \kappa }_{2} \vert y \vert \bigr) \\ &{}+\Omega _{i}\bigl(\rho _{i,0}+\rho _{i,1} \vert x \vert + \rho _{i,2} \vert y \vert \bigr)+ \widehat{ \Omega }_{j}\bigl(\hat{\rho }_{j,0}+\hat{\rho }_{j,1} \vert x \vert +\hat{\rho }_{j,2} \vert y \vert \bigr) \end{aligned}$$
and
$$\begin{aligned} \bigl\vert y(t) \bigr\vert \leq & \vartheta _{1}\bigl(\kappa _{0}+\kappa _{1} \vert x \vert +\kappa _{2} \vert y \vert \bigr)+ \vartheta _{2}\bigl( \hat{\kappa }_{0}+\hat{\kappa }_{1} \vert x \vert + \hat{\kappa }_{2} \vert y \vert \bigr) \\ &{}+\Theta _{i}\bigl(\rho _{i,0}+\rho _{i,1} \vert x \vert + \rho _{i,2} \vert y \vert \bigr)+ \widehat{ \Theta }_{j}\bigl(\hat{\rho }_{j,0}+\hat{\rho }_{j,1} \vert x \vert +\hat{\rho }_{j,2} \vert y \vert \bigr). \end{aligned}$$
Hence
$$\begin{aligned} \Vert x \Vert \leq & \varphi _{1}\kappa _{0}+ \varphi _{2} \hat{\kappa }_{0}+ \Omega _{i} \rho _{i,0}+\widehat{\Omega }_{j} \hat{\rho }_{j,0}+ ( \varphi _{1}\kappa _{1}+\varphi _{2} \hat{\kappa }_{1}+\Omega _{i} \rho _{i,1}+\widehat{\Omega }_{j} \hat{\rho }_{j,1} ) \Vert x \Vert \\ &{}+ (\varphi _{1}\kappa _{2}+\varphi _{2} \hat{\kappa }_{2}+ \Omega _{i} \rho _{i,2}+ \widehat{\Omega }_{j} \hat{\rho }_{j,2} ) \Vert y \Vert \end{aligned}$$
and
$$\begin{aligned} \Vert y \Vert \leq & \vartheta _{1}\kappa _{0}+ \vartheta _{2} \hat{\kappa }_{0}+ \Theta _{i} \rho _{i,0}+\widehat{\Theta }_{j} \hat{ \rho }_{j,0}+ ( \vartheta _{1}\kappa _{1}+ \vartheta _{2} \hat{\kappa }_{1}+\Theta _{i} \rho _{i,1}+\widehat{\Theta }_{j} \hat{ \rho }_{j,1} ) \Vert x \Vert \\ &{}+ (\vartheta _{1}\kappa _{2}+\vartheta _{2} \hat{\kappa }_{2}+ \Theta _{i} \rho _{i,2}+\widehat{\Theta }_{j} \hat{\rho }_{j,2} ) \Vert y \Vert . \end{aligned}$$
In consequence, we get
$$\begin{aligned} \Vert x \Vert + \Vert y \Vert \leq & (\varphi _{1}+ \vartheta _{1})\kappa _{0}+( \varphi _{2}+ \vartheta _{2})\hat{ \kappa }_{0}+(\Omega _{i}+\Theta _{i}) \rho _{i,0}+(\widehat{ \Omega }_{j}+\widehat{\Theta }_{j})\hat{\rho }_{j,0} \\ &{}+ \bigl((\varphi _{1}+\vartheta _{1})\kappa _{1}+(\varphi _{2}+ \vartheta _{2})\hat{ \kappa }_{1}+(\Omega _{i}+\Theta _{i})\rho _{i,1}+( \widehat{\Omega }_{j}+\widehat{\Theta }_{j})\hat{\rho }_{j,1} \bigr) \Vert x \Vert \\ &{}+ \bigl((\varphi _{1}+\vartheta _{1})\kappa _{2}+(\varphi _{2}+ \vartheta _{2})\hat{ \kappa }_{2}+(\Omega _{i}+\Theta _{i})\rho _{i,2}+( \widehat{\Omega }_{j}+\widehat{\Theta }_{j})\hat{\rho }_{j,2} \bigr) \Vert y \Vert , \end{aligned}$$
which implies that
$$ \bigl\Vert (x,y) \bigr\Vert \leq \frac{(\varphi _{1}+\vartheta _{1}) \kappa _{0}+(\varphi _{2}+\vartheta _{2})\hat{\kappa }_{0}+(\Omega _{i} +\Theta _{i})\rho _{i,0}+(\widehat{\Omega }_{j}+\widehat{\Theta }_{j}) \hat{\rho }_{j,0}}{E_{0}}, $$
where
$$\begin{aligned} E_{0} =&\min \bigl\{ 1- \bigl((\varphi _{1}+\vartheta _{1})\kappa _{1}+( \varphi _{2}+\vartheta _{2})\hat{\kappa }_{1}+(\Omega _{i}+\Theta _{i}) \rho _{i,1}+(\widehat{\Omega }_{j}+ \widehat{\Theta }_{j})\hat{\rho }_{j,1} \bigr), \\ & 1- \bigl((\varphi _{1}+\vartheta _{1})\kappa _{2}+(\varphi _{2}+ \vartheta _{2})\hat{ \kappa }_{2}+(\Omega _{i}+\Theta _{i})\rho _{i,2}+( \widehat{\Omega }_{j}+\widehat{\Theta }_{j})\hat{\rho }_{j,2} \bigr) \bigr\} . \end{aligned}$$
Hence the set \(\mathcal{P}\) is bounded. Thus, by Lemma 3, the operator \(\mathcal{Q}\) has at least one fixed point, which implies that system (1)–(2) has at least one solution on \([0,1]\). □