A NNALES DE L ’I. H. P., SECTION C
F. P LANCHON
Global strong solutions in Sobolev or Lebesgue spaces to the incompressible Navier-Stokes equations in R
3Annales de l’I. H. P., section C, tome 13, n
o3 (1996), p. 319-336
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Global strong solutions in Sobolev
orLebesgue spaces to the incompressible
Navier-Stokes equations in R3
F. PLANCHON
Centre de Mathematiques, U.R.A. 169 du C.N.R.S.,
Ecole Polytechnique, F-91128 Palaiseau Cedex
Vol. 13, n° 3, 1996, p. 319-336 Analyse non linéaire
ABSTRACT. - We construct
global strong
solutions of the Navier-Stokesequations
withsufficiently oscillating
initial data. We will show that the condition is for the norm in some Besov space to be smallenough.
RESUME. - Nous construisons des solutions fortes
globales
desequations
de
Navier-Stokes,
pour des donnees initiales suffisamment oscillantes. Cette condition se traduit en terme de normepetite
dans un certain espace de Besov.INTRODUCTION
We are interested in the
following system,
for x ER3
and t >0,
with initial data
~c(x, 0) _
the sake ofsimplicity,
we suppose that v =1;
asimple rescaling
allows us to obtain any other value. LocalAnnales de l’Institut Henri Poincaré - Analyse non linéaire - 0294-1449 Vol. 13/96/03/$ 4.00/@ Gauthier-Villars
existence and
uniqueness
in the Sobolev space and theLebesgue
space are
known,
if s >1 / 2
and p > 3(see [4]).
We haveglobal
solutions for small initial data in
L~(R~) (see [9]
or[4])
andH! (R3)
(see [4]
and[5]),
or inL~(R~)
n with p > 3(see [1]).
We shallextend the results of
[4],
for s >1/2
and p > 3.By adapting
theauxiliary
spaces used in
[4],
we shall prove the existence anduniqueness
ofglobal
solutions in
provided
the initial data are small in a sense which will be madeprecise later,
and in up to additional conditions onuo. Let us define the
homogeneous
Besov spacesDEFINITION 1. - Let us
choose ~
E a radialfunction
so thatSupp J
1~- ~~,
and~(~)
= 1for
1.Define
the convolution operator with and
0~ _ ,5’~+1 - ,S’~.
Let
f
ES’(Rn),
a ER,
1p, q +0oo, f
Eif and only if
The reader should consult
[12], [2],
or[ 16]
where theproperties
of Besovspaces are
exposed
in detail. Let us see howhomogeneous
Besov spaces arise. If we want to construct aglobal solution,
it is useful to control anorm
remaining
invariantby
the If this canbe achieved in a Besov space with a 0 and therefore
bigger
than theusual space where we want to obtain a
solution,
we will have weakerassumptions
on uo.Let us
give
the results in the case of Sobolev spaces. BC denotes the class of bounded continuous functions.THEOREM 1. - There exists an universal constant
~3
> 0 suchthat, if
s
> 2,
uo EHS(~3), ~ ~
uo = 0 andthen there exists a
unique
solution uof ( 1 )
such thatMoreover,
thefollowing properties
holdfor
u:u(’,
LZ isdecreasing,
andfor
every t >1,
Annales de l’Institut Henri Poincaré - Analyse non linéaire
. For
every t
>1,
. For
every t
>0,
.
If s
E(1,3/2], for
every t1,
Note that the space
B4, ~4
is invariant under thescaling
and
ift
cB-1/44,~ .
It isvery interesting
that we do not need a smallH1 2-
norm to obtain a
global
solution(see [4]).
On the otherhand,
if we wantto include the case
1/2,
u isunique
in the spacewhich was used in
[4],
thestarting point
of thepresent
work. The weak condition(2)
is theonly remaining
obstacle to theproblem
of existenceof
global
smooth solutions to the Navier-Stokesequations,
and we remarkthat
,~
does notdepend
on s. Thedecay
estimates(4)
can be found in[8],
in a
slightly
different context. We recall it here as a natural consequence of the construction of u.In the
Lebesgue
spaces, theanalogue
isthen there exists a
unique
solution u such thatVol. 13, n° 3-1996.
The restriction p >
3/2
is due to technicalconsiderations,
and we couldprobably
obtain 1 instead of3/2, by sligthly modifying
the Besov space involved.PROPOSITION 1. - The constant
satisfies:
PROPOSITION 2. - In Theorem
2,
we canreplace
uo E LP n2~ ~ by
u0 ~ Lp ~ L3, and if p > 3 by L2 ~ Lp.
If uo E
Hs , s > 1/2,
then asH 2
CB4, ~4,
we have a natural candidatefor the useful Besov space. On the
contrary,
if we takeLP,
we may use3 3
two different Besov spaces: the first one is
B2p2p,~,
as LP~ B2p,~.
Butthis space is not invariant
by
therescaling.
The"right"
space isB-(1-3 2p)2p,~ , 2p >,
but
unfortunately Lp~ B-(1-3 2p)2p,~
. Thisexplains
the additional conditionimposed
on uo in Theorem 2. Both spaces coincideonly
when 1-~-
=~-,
which means p = 3. The reader should refer to
[9]
and[4]
for details.Proofs. -
We first reformulate theproblem
in order to obtain anintegral equation
for u. This is standardpractice,
and was firstemployed by
Katoand
Fujita (see [10] [11]),
and very often used since(see [7] [6] [15]).
All these authors use
semi-group theory,
but in thepresent
case, we donot need this
formalism,
for the exactexpression
of the heat kernel inR3
allows us to obtain
directly
the estimates we need(see [9]).
Let P be theprojection operator
from(L~(R~))~
onto thesubspace
ofdivergence-free
vectors, denoted
by
andR~
the Riesz transform withsymbol
We
easily
see thatwhere a =:
~~
is well-known that Q~ can be extended to a boundedoperator
from( Lp ) 3
ontoPLP,
1 p +00, and froms >
0. Note that P commutes withS( t)
= whereas on an open setH,
we need to introduce the Stokesoperator
-PA and the associatedsemi-group.
Note thatAnnales de l’Institut Henri Poincaré - Analyse non linéaire
Using P, (1)
becomes an evolutionequation
We
replace (u ~ V)u by V . (u @ u)
to avoidproblems
ofdefinition,
and this ispossible only
because V . u = 0. It is then standard tostudy (10)
via the
corresponding integral equation
in a space of
divergence
free vectors. Theintegral
should be seen as aBochner
integral.
In thegeneral
case of evolutionequations,
a solutionof
(11) might
not be a solution of(10). However,
in the case of theNavier-Stokes
equations
without externalforces,
it is true without any extraassumptions. Actually,
the solutions of(11)
areC°° ( (©,
x1~3 )
andverify
theequations (1)
in the classical sense, as we recovereasily
thepressure up to a constant
by
The reader should refer to
[7] [10]
or[13]
forproofs.We
remark that since a solution of(1)
isnecessarily
a solution of(11), uniqueness
for(11) guarantees uniqueness
for(1).
We aim to solve(11) by
successiveapproximations,
with thefollowing
lemma:LEMMA 1. - Let E and F be two Banach
functional
spaces, endowed with thenorms ~ ~ ’
.( j = ~ ~ ’
.( _ ~ ~ ’ ~
B a continuous bilinearoperator
from F x F -7
E and F x F - F:and
define
the sequenceXo
=0, Xn+1
= Y +B (Xn, Xn),
where Ybelongs
to E and to F.
If
Vol. 13, n° 3-1996.
then the sequence converges in both spaces E and
F,
and the limit Xsastisfies
and
The
proof
is left to the reader. Note that the valueof q
has no influenceon the convergence. Now we have to
study
thefollowing
bilinearoperator
In order to
simplify
thenotations,
we limit ourselves to thefollowing
scalar
operator
s)V.
is a matrix of convolutionoperators,
thecomponents
are alloperators
like(17),
withLEMMA 2. - E and 0 E
L1
n L°°.This can be
easily
seen on the Fourier transform of O.In what
follows,
C denotes a constant which may vary from one line to another.Proof of
Theorem 1PROPOSITION 3. - Let
1/2
s3/4,
then there exists a solution uof (11)
such thatwhere
w(t)
=t3~g-s/2 if
0 t 1 andw(t)
=if t
> 1.Annales de l ’lnstitut Henri Poincaré - Analyse non linéaire
We want to
apply
Lemma(1)
where E and F are definedby
the normsIf we use Holder and
Young inequalities
forB( f, g),
Abeing
theoperator
with
symbol !,
We shall then
verify that,
for all t >0,
Easy
calculationsactually
show that for t1,
and for t > 1
The
continuity
at t = 0 comes from the estimate when t 1. In order to include the case s =1 /2,
we have toimpose
u( ~ L4 =
0(see [4]).
Note that theconstant ~
of Lemma 1 isTherefore,
if satisfies condition(13),
we obtain u EPROPOSITION 4. - We have
Vol. 13, n° 3-1996.
Let G =
-~oo),
B is bicontinuous from G x F to G:Let
for t
1, 13
and for all tG
being
a Banach space, we can use a contractionargument
to show that the sequence definedpreviously
converges in G. It is sufficient that2 1,
which is true asp ~y
and u verifies(15). Therefore,
we
proved (24)
and henceProposition 3,
and shownthat ]] ~c( ~, t) ( L2
isuniformly
bounded.We now show
(6):
thefollowing
estimation is verifiedby
the heatkernel,
We have
Let us denote
W( f, t)
=Vi ~~ f(., s) !!oo.
thenLet
then,
as14 2~y,
we have2W(S(t)uo, t)14
1.Therefore,
Now we can prove
(4)
as follows:Annales de l’lnstitut Henri Poincaré - Analyse non linéaire
where
If we
take q
such that2q = 1 -+- ~, ~ > ~, using interpolation
and(28)
we
get,
fort > l,
and
On the other
hand,
we knowby (26)
thatVq
>2,
Therefore,
as u sastisfies( 14),
we willimprove (30)
in thefollowing
way: letThe term
Bi
can be handled veryeasily,
so that >0,
Now,
wesplit
in threeparts. By (31 )
we haveVol. 13, n° 3-1996.
as
We remark that the
exponent 1 /4
cannot beimproved,
as it does notdepend
on and,~.
LEMMA 3. -
Suppose
thatfor
0 pthen
and there exists v > 0 such that
By (31 )
and, by (28)
and(29)
We can start with =
1/6 - ~,
and obtain anyexponent ~
>1/4. Thus,
We constructed u for s
3/4.
Now we will see that if s >3/4, u
as aboveis
actually
in We limit ourselves to the bilinear form(17),
as the termS(t)uo
satisfies at least the same estimates.Annales de l’Institut Henri Poincaré - Analyse non linéaire
LEMMA 4. - Let
f, g
EHs(If~3), 3~4
s3/2,
For a
proof
see theAppendix. Suppose
now that s >3/4,
and u is the solution ofProposition
3 for s =3/4. Then, if ~ 1 /4,
we obtain for t 1using
Lemma 4 and the boundedness off
inH3~4,
so thatwhich
gives
thecontinuity
at zero. For t >1,
we haveby (29)
which allows us to
improve (22),
for s3/4
Then
and,
and
then,
for all tVol. 13, n° 3-1996.
We have thus obtained u E
H 4 +’~ . By applying
the sameargument
we can reach the value s >3/2,
aswith ~
+3/2 - s
1. Beforedealing
with the case s >3/2,
let usbriefly
show
(7) . By
Sobolev’sinjection
theorem(see [14]),
if s3/2
thenwith
1/p
=1/2 - s/3.
If s = 1 + c~, a1/2,
weobtain,
for t, 1For
small t, B ( f , g)
is bounded and tends to zero as t goes to zero. Nowwe treat the case where s >
3/2, using
thefollowing
estimateLEMMA 5. - Let
f, 9
EHs (~3), s
>3/2,
For a
proof,
see theappendix.
We will then show LEMMA 6. - Let s >3/2, for
all t > 0This can be achieved
by
successiveiterations, starting
from theprevious
estimate for s =
2,
andapplying
Lemma 5. Let us see how it works at eachstep. Let ~ 1,
we first treat the case t 1.and as
f and g
are bounded in L°° and inHs,
For t >
1,
Annales de l ’lnstitut Henri Poincaré - Analyse non linéaire
by using
Lemma 4. ThenFor t >
1,
and
using
Lemma 5 we deduce the estimate for from the estimate for s :This achieves the
proof
of the existence of u EBC ( [0, -~-oo ) , Hs ) . Now,
we observe
that,
as we have local existence anduniqueness
for s >1 /2
(see [4]),
our solution isunique by applying
this theorem on intervalscovering [0, oo).
In the case s =1/2,
it is necessary to establishuniqueness directly, (see [4]
or[11]).
The reader should refer to[11]
or[7],
in orderto see
why
a solution of(11)
isactually
a solution in the classical sense.We can nevertheless make a few remarks.
By
the same process we use togain
theregularity s - 3/4,
we canestablish, independently
of s, estimatesin
Hr,
r > s : for all t >0,
there exists7r(r)
> 0and is holderian on every interval
provided t 1
>to
> O.Thisprovides
theregularity
in the space variables. As forregularity
intime,
itsuffices to use the
relation,
which can be established withoutknowing (10)
and the
following lemma, (see [ 11 ]
or[7]
for aproof).
LEMMA 7. - Let =
~o e ~t s~° f (s)ds,
t E~0, T], f
EC’~([o, T], B),
r~
1;
B a Banach space. Then u E Au E andfor
all v r~.We then obtain the C°°
regularity of u,
for t >0,
with abootstrap argument.
Let us see how condition(13)
can beexpressed
on Uo in termsVol. 13, nO 3-1996.
of Besov spaces. We set
~3,
where~3
has been chosen so thatour scheme converges in F.
Remember
thatTherefore,
as3/8 - inf(s, 3/4)/2 1/8,
and
LEMMA 8. - Let uo E
S(R3),
a >0, and 03B3
>1;
suptS(t)uo
is a norm on which is
equivalent
to the classicaldyadic
norm.We refer to
[4]
or[12]
for aproof.
In our case,except
for s =3/4,
thecondition on uo is
equivalent
toThus,
asH 2 C B4, ~4
and C$4 (~/4-inf(s,3/4)) ~
uobelongs
toboth Besov spaces.
If u
is a solution withinitial
condition uo,À2t)
is a solution with as initial data. The condition
(44)
isindependent
of A for the norm is invariant
by scaling.
And(43)
can be forcedby
a suitable choice of A. For s =
3/4,
we know thatH 4
CL4,
and weconclude in the same way. This ends the
proof.
Proof of
Theorem 2. - We introduce as before two Banach spaces E =BC([O, +(0), LP)
with the natural normand F vith the norm
then, we see that
where - j
Annales de l ’lnstitut Henri Poincaré - Analyse non linéaire
which
gives
thecontinuity
of B from F x F ~ F and F x E 2014~E,
withconstants and
and a
simple rescaling
shows bothquantities
are bounded. Then if we usethe same sequence as
before,
Lemma 1gives
us the convergence inF,
andwe obtain the convergence in E
by
acontractionargument,
asr~(p)
we obtain 1. The
continuity
at t = 0 comes from aslight
modification of
(45),
as we canreplace I f by f ( . ,
which tends to zero with t.
Actually,
the value of couldonly
be zero: the first term ui =S(t)uo
tends to zero, for if we consider asequence of
Co
functions( v~ ) ~
whichapproximate
uo,By
Lemma 8 the condition on uobecomes,
where
03B4(p) ~ 1/03B3(p).
This proves3Proposition
1.Proposition
2 resultsfrom the inclusion of
L3
inB-(1-3 2p)2p,~.
Note that for p =2,
weimpose
the condition
which is
equivalent
to the condition(2).
For ageneral
uo EL2,
weonly
know
In other
words,
we do not knowenough
on lowfrequencies,
and a sufficientcondition is
(2),
of which uo EL3
or uo EH 2
with small norms areparticular
cases. We obtained existence anduniqueness
in a ball of F with Lemma 1 anduniqueness
in the whole space can be obtaineddirectly
asin
[11] or [4].
As in the Sobolev case, it ispossible
to obtain estimates on Lq norms of~c( ~, t), q
> p, in order to show the C°°regularity
for t > 0.Vol. 13, n° 3-1996.
APPENDIX
We recall that
if rP
ES(Rn)
is a radial function so thatSupp ~ {|03BE|
1
-f- ~~,
and~(~)
= 1 for1,
we define theconvolution
operator
with andAj
=Sj.
Thenand
f(x)
E if andonly if, Vj,
where £ ~~
1. We will show the twofollowing inequalities,
which arehomogeneous
variants of well-knowninequalities:
for s
n , 2
for s >
2 ,
Let us start with the first case: we will use a
paraproduct decomposition (see [3]):
forf, 9
ES,
The second sum
is, by reordering
the terms, a finite sum of terms likeS2
=~~
We will treatonly S2, .
as the other ones are of the same kind. The Fourier transform ofS2
issupported
in an annulus(2~-1 (1 - 2~), 2~+1 (1
+2~)~. Using
Bernstein’slemma,
Then,
Annales de l’Institut Henri Poincaré - Analyse non linéaire
and
is a convolution
product between ll
andl2,
therefore inl2. For j
>0,
if
is
in l2
for the same reason as~~ .
Thisgives
where E
l ~ . Then,
if is associated to g,and as E
ll
Clz, ,Sl
E The terms of the first sum in(51)
are like
51 = ~~
and in this case weonly
know that thesupport
of the Fourier transform of is in{~~~ C2~},
andLEMMA 9. -
If u C L1,
supp ic C1-~ 2s,
thenThis comes from
then, applying
Lemma 9 toAs E this ends the
proof.
The secondinequality
can beproved by
the sameestimates, except
that we have a better estimate for~~,5’~(f)~~~
and both bounded
by
Vol. 13, n° 3-1996.
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[2] J. BERGH and J. LÖFSTROM, Interpolation Spaces, An Introduction, Springer-Verlag, 1976.
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Annales de l’Institut Henri Poincaré - Analyse non linéaire