S EMINARIO M ATEMATICO
della
U NIVERSITÀ DI P ADOVA
D AXIN W U
S HIH -L IANG W EN
Existence and uniqueness of a periodic solution to the two-dimensional generalized Korteweg-de Vries equation
Rendiconti del Seminario Matematico della Università di Padova, tome 86 (1991), p. 89-109
<http://www.numdam.org/item?id=RSMUP_1991__86__89_0>
© Rendiconti del Seminario Matematico della Università di Padova, 1991, tous droits réservés.
L’accès aux archives de la revue « Rendiconti del Seminario Matematico della Università di Padova » (http://rendiconti.math.unipd.it/) implique l’accord avec les conditions générales d’utilisation (http://www.numdam.org/conditions).
Toute utilisation commerciale ou impression systématique est constitutive d’une infraction pénale. Toute copie ou impression de ce fichier doit conte- nir la présente mention de copyright.
Article numérisé dans le cadre du programme Numérisation de documents anciens mathématiques
http://www.numdam.org/
to the Two-Dimensional Generalized Korteweg-de Vries Equation.
DAXIN WU - SHIH-LIANG
WEN (*)
ABSTRACT - The two-dimensional
generalized Korteweg-de
Vriesequation
is con-sidered.
Using
the Galerkin’s method and the Sobolevimbedding
theorem weshow that a
periodic
(in x andy)
solution exists and isunique
if the initial functiong(x, y)
satisfies certain suitable conditions.1. Introduction.
The one-dimensional
Korteweg-de
Vriesequation (referred
to asthe KdV
equation henceforth)
derived in 1895[7]
has attracted the at- tention of many researchers since the name «soliton» was coinedby Zabusky
and Kruskal in 1965[13].
For survey of the KdVequation
wecite a paper
by
Miura[9],
and for the related inversescattering
tech-nique
we cite a bookby
Ablowitz andSegur [1].
The two-dimensional KdVequation (called
the KPequation)
was first derivedby
Kadomtsevand Petriashvili in 1970
[6].
Some two-dimensional resultsinvolving traveling
wave solutions have been obtainedby
Chen and Wen[31, [4].
Generalizing
the one-dimensional result ofLeVeque [8]
the authors discussed the interaction of twonearly equal
solitons in the two-dimen- sional KdVequation [11].
Auniqueness
theorem for two-dimensionalperiodic
solutions was establishedby
the authors[12].
In this paper we consider
periodic
solutions(in
x andy)
to the fol-(*) Indirizzo
degli
AA.: MathematicsDepartment,
OhioUniversity,
321Monton
Hall,
Athens, Ohio 45701-2979, USA.where
u(x
+P,
y,t)
=u(x, y
+P, t)
=u(x,
y,t)
for allreal x, y
and fort ~ 0,
constants « 0and fi
> 0.Furthermore,
we assume thatIn
addition,
we shall assumef(u)
= Au r for a constant A > 0 and eitherr E Z + or r > 3. When r =
2,
eq.(1)
is the KPequation,
and when r = 1 itis linear. Without loss of
generality,
we shall prove for r ~ 3 since thecases where
r =1,
2 are easier to handle in a similar way.Using
the Galerkin’s method and the Sobolevimbedding
theo-rem
[2]
we shall establish the existence anduniqueness
of aperiodic
solution to
problem (I).
Guo[5]
hasproved
auniqueness
and existence theorem ofperiodic
solutions for the one-dimensional KdVequation
with
I - AU 2+ B
where A and B are constants.However,
thereare
major
errors in the paper which invalidate theproof. Recently,
Schwartz
[10]
showed a theorem on existence anduniqueness
ofperiod-
ic solutions for the two-dimensional KdV
equation.
Both Guo andSchwartz used the Galerkin’s method. The basic ideas we use are simi- lar to that of Guo and Schwartz.
But,
we use a different function space and the details arequite
different. Inparticular,
weemploy
theSobolev
imbedding
theorem which was not usedby
Schwartz or Guo.Our result is
good
forf(u)
= Aur with r E Z + or r > 3 which includes Schwartz’s result as aspecial
case(i. e. A =1/2
andr = 2).
2. Some notations and definitions.
First,
we introduce some notations and definitions:5) WP
is a Sobolev space of functions withgeneralized
deriva-tives up to the m-th order that
belong
toLp.
where
D k
means the k-th derivative in x andDy
meansthe j-th
deriva-tive in y.
8) Hypothesis
A:f(u)
= Au r for constant A > 0 and either r E Z +or r > 3.
(Again,
without loss ofgenerality,
we assumer , 3. ) 9) Hypothesis
B: For the same r inHypothesis
Awhere a3 is a constant to be defined in Lemma 2.
We should note that
S,
is a Banach space. Sinceby
the Sobolevimbedding
theorem(pp. 95-100,
ref.[2]),
aconvergent
sequence inS1
converges
pointwise,
it is closed inW2 . (I.e.
the limit of the sequence isin S1.)
A function
u(x,
y,t)
which isperiodic
in x and y withperiod
P andsatisfies
(3)
is called a classical solution ofproblem (I)
if all the deriva- tives ofu(x,
y,t)
in eq.(1)
are continuous andu(x,
y,t)
satisfies eq.( 1 ) identically.
We define ageneralized
solution of theproblem (I)
in thedomain
QT
= S x[0, T]
to be the functionu(., t)
EW2 (S),
ut EL2 ,
satis-fying
thefollowing
conditions:for any where
for any
(x,
y,t)
with t :0,
We want to prove that the
problem (I)
has aunique
classical sol- ution. To do so, we use the Garlerkin’s method. Since Sobolev spacesare
separable
Hilbert spaces(Adams [2], p. 47),
we canpick
out atrigonometric
orthonormal basisy) }
forW2 (S),
where(x, y)
areperiodic
withperiod
P in x and y.n For any
given g(X, y)
EW2 ,
there exist real constants cj such thati in
W2
norm as n --~ 00. We shall look forayproximate
-solutions of the
problem (I).
We call aGalerkian soLution if un satisfies
for any V E
S1,
whereBefore we
proceed
further we note thatcan
areuniquely
determinedfor a
given g(x, y)
and for thef(u) satisfying Hypothesis
A.In view of the
orthonormality
of if we choose v= if;j
in eq.(4)
forj =1, 2, ... ,
n, then it becomes asystem
ofordinary
differential equa- tions of the formwith initial condition
where
C(t),
B are n-column vectors whosetransposes
areand
h(t, C)
is a power function in cln , ~2~ ... ~ Cnn ofdegree
r. In otherwords,
mustsatisfy
the initial valueproblem
eqs.(10)
and(11).
are continuous in t. The
partial
derivatives of h withrespect
tocan (,~’ =1, 2, ... , n)
are power functions inCjn
ofdegree
at most r - 1. Sincer is
fixed,
these derivatives are continuous and bounded ifI cjn I
arebounded for t > 0. Therefore
c~n (,~’ = 1, 2,
... ,n)
exist for t ~ 0 and areuniquely
determined if we can show thatI
are bounded.The boundedness of
I
can be established from theresult, (see
Lemma 1below),
and the Parseval’sformula,
Hence in this way the Galerkin’s solutions are
unique- ly
determined for agiven g(x, y).
3.
Preliminary
lemmas.To establish the existence of solutions to Problem
(I),
we shall showun converge
(as n -~ ~ ) uniformly
inS,
to a solution of Problem(I).
To this end we need thefollowing
Lemmas. In view of the fact that thetechniques
used in theproof
of many lemmas are similar and some of them arequite lengthy,
we shall outline some of theproofs. Many
de-tails will be omitted. Readers interested in details may write to one of the authors.
LEMMA 1. If the
Hypothesis
A istrue,
then thefollowing
estimateholds for the Galerkin’s solutions un
where the constant q1 is
independent
of n.PROOF.
Choosing v
= in eq.(8) for j =1, 2, 3,
... , n, multi-plying
eachequation by (t)
and thensumming over j
from 1 to n, weget
Now we need to examine every term in the above
equation.
.
and since
Combining
the aboveresults,
we haveHence for any
norm as n - 00, if we choose c
=1,
then there isa
N such that for anyespecially,
thus
Hence we can find a constant q,
(depending
on gonly)
suchthat
LEMMA 2.
Suppose Hypotheses
A and B are satisfied. Then the estimate holdswhere q2 is a consist which is
independent
of n.PROOF. First we notice that if we
apply
the Sobolevinequalities
here,
for some constants cl , c2 , and c3 , we haveand
thus
Next we follow the same routine as that at the
beginning
of theproof
ofLemma 1
by choosing v
=if:;jxxxx
toget
Again,
afterexaming
each term in the aboveequation,
we obtain thefollowing
relationsThen,
we useintegration by parts
in xagain
toget
where we have made use of
integration by parts repeatedly,
theperi-
odicity property
of un and itsderivatives,
and the Sobolevinequalities,
A3
=Ar(r -1 )(r - 2),
andA2
=Ar(r - 1).
by
use ofintegration by parts
in x and y.Combining
the above results andletting
we have derived theinequality
Hence we have
Now,
we choose to be smaller thanThen
Therefore,
, Then for 0 ~ tT, q2
isindepen-
dent of n. Hence
Q.E.D.
LEMMA 3.
Suppose Hypotheses
A and B are satisfied. Then thefollowing
estimates hold:where q3 , q4 and q5 are constants
independent
of n.PROOF. We choose e = 1 in the Sobolev
inequalities,
then there areconstants
C1, C2
andC3
such thatand
Then Lemmas 1 and 2
give
us the desired results.Q.E.D.
LEMMA 4.
Suppose Hypotheses
A and B are satisfied. Then the estimate is truewhere q6
is a constantindependent
of n.PROOF.
Choosing v = ~~ , j = 1, ... , n
anddifferentiating eq. (8)
with
respect to t,
we haveLet unt = vn .
Multiplying
theresulting equation by cJn (t)
thensumming over j
from 1to n,
we obtainEstimates can be made as before. The rest of the
proof
is omit-ted.
Q.E.D.
LEMMA 5.
Suppose Hypotheses
A and B are satisfied. Then thefollowing
estimates hold:where q7 and qg are constants
independent
of n.PROOF.
Following
the same routine as in theproof
of Lemma4,
wecan
get
thefollowing equation
Again,
the rest of theproof
is omitted.Q.E.D.
LEMMA 6.
Suppose Hypotheses
A and B are satisfied. Then thefollowing
estimate is true:where q9 is a constant
independent
of n.Then Lemma 5 ensures that
LEMMA 7.
Suppose Hypotheses
A and B are satisfied. Then thefollowing
estimate is true:where qlo is a constant
independent
of n.PROOF.
Differentiating
eq.(8)
withrespect to t, choosing v
=j =1, ... ,
n,using integration by parts,
andletting
wn = Vnx = theresulting equation
becomesThe rest of the
proof
is routine.Q.E.D.
LEMMA 8.
Suppose Hypotheses
A and B are satisfied. Then thefollowing
estimates hold:where constants qll and ql2 are
independent
of n.PROOF. In eq.
(8),
we letv = ~~yyx , j =1, 2, ... , n,
and use in-tegration by parts
withrespect
to x. Then theresulting equation
is
We
multiply
the aboveequation by
and sumover j
from1 to n to
get
The rest of the
proof
is omitted.Q.E.D.
LEMMA 9.
Suppose Hypotheses
A and B are satisfied. Then thefollowing
estimate holds:where the constant ql3 is
independent
of un .PROOF.
Following
the sameprocedure
as in theproof
of Lemma4, choosing v
= =1, 2, ... ,
n, andletting zn
= Wnx = vnxx = 9we obtain the
following equation
The rest is rather routine.
Q.E.D.
LEMMA 10.
Suppose Hypotheses
A and B are satisfied. Then thefollowing
estimates hold:where the constants q14 and q15 are
independent
of n.PROOF. In eq.
(8), choosing v
=(t)
andusing integration
by parts
twice withrespect to x,
we have theequation
The rest is routine.
Q.E.D.
LEMMA 11.
Suppose Hypotheses
A and B are satisfied. Then thefollowing
estimate holds:where the constant q16 is
independent
of n.PROOF. Similar to the
proof
of Lemma4, letting
unt = vn , and v ==
l, ... ,
n, we can derive thefollowing equation:
The rest is omitted.
Q.E.D.
LEMMA 12.
Suppose Hypotheses
A and B are satisfied. Then thefollowing
estimate holds:PROOF. Let
wny
= unzyt = zn . Thenfollowing
the sameprocedure
asin the
proof
of Lemma4,
we’ll deal with thefollowing equation:
The rest is omitted.
Q.E.D.
LEMMA 13.
Suppose Hypotheses
A and B are satisfied. Then wehave the
following
estimates:where constant ql8 and q19 are
independent
of n.PROOF. We choose v =
=1, 2, ... , n
in eq.(8),
then inte-grate
itby parts
withrespect
to y and sum over theresulting equations from j
= 1 to n to obtainThe rest is omitted.
Q.E.D.
LEMMA 14.
Suppose Hypotheses
A and B are satisfied. Then wehave the
following
estimate:PROOF.
Choosing
=1, 2, ... ,
~’G in eq.(8), integrating by parts in x,
and thensumming
over theresulting equations from j
= 1to n,
we obtainWe omit the details.
Q.E.D.
LEMMA 15.
Suppose Hypotheses
A and B are satisfied. Thenwhere constant q21 is
independent
of n.PROOF.
By choosing v
== 1, 2, ... ,
n in eq.(8),
mak-ing
use ofintegration by parts
in xand y,
and thenfollowing
the sameThe rest is routine.
Q.E.D.
LEMMA 16.
Suppose Hypotheses
A and B are satisfied. Thenwhere the constant q22 is
independent
of n.PROOF. The
proof
is routine.Q.E.D.
LEMMA 17.
Suppose Hypotheses
A and B are satisfied. Thenfor some constant q23 which is
independent
of n.PROOF. We choose v =
1, 2,
... , ~’L in eq.(8)
and the follow the same routine as in theproof
of Lemma 15 to obtainThe rest is omitted.
Q.E.D.
LEMMA 18.
Suppose Hypotheses
A and B are satisfied. Thenwhere q24 is some constant which is
independent
of n.PROOF.
Choosing
andfollowing
thesame routine as in the
proof
of Lemma15,
we can transform eq.(8)
intoThe rest is omitted.
Q.E.D.
LEMMA 19.
Suppose Hypotheses
A and B are satisfied. Thenwhere q25 is some constant which is
independent
of n.PROOF.
Refering
to theequation
in theproof
of Lemma 11 we canstart from
and then choose v =
c?jyyyy , j = 1, 2,
... , n, and follow the same rout-ing
as in theproof
of Lemma 11.Q.E.D.
LEMMA 20.
Suppose Hypotheses
A and B are satisfied. Thenwhere q26 is some constant which is
independent
of n.PROOF.
Choosing v
=2,
... , n in eq.(8),
and fol-lowing
the same routine as in theproof
of Lemma15,
we can obtain theThe rest is omitted.
Q.E.D.
4.
Uniqueness
and existence theorems.THEOREM 1.
(a)
Ifu(x, y, t)
is a classical solution ofproblem (I),
then it is also a
generalized
solution.(b)
Let u be a function with the needed continuous derivatives asdescribed in eq.
(1)
and u be ageneralized
solution of eq.(4).
Then u isa classical solution of
problem (I).
PROOF.
(a)
Assume u is a classical solution ofproblem (I).
Wewant to show:
We carry out
integration by parts
withrespect
to x for the second and thirdterm,
and withrespect to y
for the last term.Making
use of theperiodicity
conditions for u and v, we obtain eq.(4). Therefore, u
is ageneralized
solution.(b)
The converse is also true. Moreprecisely
ifu(x,
y,t)
is a gen- eralized solution with the needed continuous derivatives as described in eq.(1). Now,
if eq.(1)
does not hold. Then there is aneighborhood
ofsome
point,
say,xo
=(xo , yo ) in S,
in which[ut + f ’ (u) ux -
aUxxx -gfyy I
is
positive
since the functions inside the square brackets are continuous in S. In this case we choose v such that v > 0 and V ES1
in thisneighbor-
hood and zero elsewhere in S so that
which is a contradiction. Hence u must
satisfy eq. (1). Q.E.D.
THEOREM 2. If
Hypothesis
A issatisfied,
thenproblem (I)
has atmost one
generalized
solution.PROOF. Let u and z be two
generalized
solutions of theproblem (I).
For
any ~
E wehave,
afterintegration by parts
as necessary, thefollowing equation
for u and z:Let u - z = w and
choose ~
= w, we can transform the aboveequation
into
Using
a method similar to that in theproof
of Lemmas 2 and3,
we can obtain the upper bounds forMoo
and||ux 1100 ,
where these bounds are in-dependent
of thegeneralized
solutions.To estimate the last term in the above
equation,
we useintegration by parts,
the result of Lemma 1 of[12],
and the upper bounds ofIlullm
and
Ilu.11.
Hence we can derive theinequalities:
for some constant b
independent
of u.By
the Gronwall’sinequality,
we obtain the desiredresult,
forT>O,
Hence u = z.
Q. E . D.
Now,
we areready
to prove the existence theorem ofproblem (I).
First,
let usexplain
some of the notations which will be used.W2’ (S)
~CB (S)
means that each U EW2 (S)
can, when considered as afunction,
be redefined on a set of zero measure in S in such a way thatwith K
independent
of u[2].
THEOREM 3.
Suppose g
EW2 (S)
andHypotheses
A and B are sat-isfied. Then Problem
(I)
has aunique
classical solutionu(., t).
PROOF.
By
Lemmas1, 5, 6, 8, 10, 13, 14, 15
and 16{un }
is uniform-ly
bounded inW2 (S). By
the Rellich-Kondrachov Theorem([2],
p.144),
is
compactly
imbedded intoCB (S).
Hence there is asubsequence (without
loss ofgenerality,
we can still denote thissubsequence
as{u,,, 1)
which converges to someu(., t)
inC2 (S) (from
now on, we shalluse the modified function u instead of
using
u, and without confusionwe denote u
by u), i. e. ,
as n ~ ~ for each fixed t E
[0, T ].
Also,
un - uweakly
in for each fixedT ],
soas n --~ 00 for
every ~
ESi .
Furthermore, {unt ~
isuniformly
bounded inby
Lemmas4, 7, 11, 9,
12 and 19. Thus there is asubsequence
of{unt ~ (without
loss ofgenerally,
we can still denote thissubsequence
as such thatweakly,
i.e.Now we want to show that = for
every ~
ESl . By
Lemmas3,
4 and6, t)
E Since is a Banach space and any Banach space isweakly sequentially compact, weakly
in Hence we obtain
for any
Using integration by parts
in t and the fact thatweakly
in ,Sfor each t in
[0, T ],
we obtainOn the other
hand,
from eq.(13)
we obtainas n - oo, for
each ~
ES1.
Thus weapply
the theorems ofchanging
or-der of
integration
in realanalysis
to obtainSince Y
isarbitrarily
chosen inW[ (QT),
wechoose Y = cp
in the aboveexpression
for each fixed t. Thenby
theuniqueness
of thelimit,
wemust have a. e.
Next,
we want to show that u satisfies eq.(4).
We havealready
known from eqs.
(13)
and(15)
thatSince un - u
pointwise
in S for t e[0, T ],
it follows that u rpoint-
wise in S for t e
[0, T ]. Furthermore, using
eq.(12)
we canget
where B is some constant from our
previous
Lemmas. Thus we can usethe Dominated
Convergence
Theorem toget
And eq.
(12) implies
uniformly
in x and y for(x, y)
E S and fixed t E[0, T ].
Hence we canobtain
integration by parts eq. (4)..
Now,
we want to check theboundary
and the initial condition.By
the
meaning
of Sobolevimbedding, namely eq. (12), un (~, t) actually
converges
pointwise
tou(., t).
Thus u satisfies theperiodic condition, i. e.,
Next,
we want to show that u is continuous in x, y, and t.First,
we ap-ply
Lemmas 3 and7,
and the first Sobolevinequality
to deduce thatu(x, Y, -)
EW2([O, T]).
Thenapply
the Sobolevimbedding
theorem toW2’ ([0, T])
to deduce that u is continuous in t.Secondly,
sinceu E
C’B (S),
uxand uy
are bounded in absolutevalues,
for any fixed(xo, Yo , to ) E Qr
and any(~,
y~t)
EQT,
Therefore we can use the definition of continuous functions to deduce the
continuity
of u in x, y, and t inQT .
Thus u also satisfies the initial condition. Therefore u is ageneralized
solution ofproblem (I).
Finally,
we want to show that~c(~, t)
is continuous in S. But sinceby
Lemmas5, 10, 14, 17, 18,
and20,
the Sobolevimbedding
theorem ensures thecontinuity
of uxxx in x and y. Then ap-plying
Theorem1,
we obtain the desired result.Q.E.D.
REFERENCES
[1] M. J. ABLOWITZ - H.
SEGUR,
Solitons and the InverseScattering
Trans-form, SIAM, Philadelphia
(1981).[2] R. A.
ADAMS,
SobolevSpaces,
AcademicPress,
New York (1975).[3] Y. CHEN - S. WEN,
Traveling
wave solutions to the two-dimensional Kor-teweg-de
Vriesequation,
J. Math. Anal.Appl., 127,
n. 1(1987),
pp.226-236.
[4] Y. CHEN - S.
WEN,
On existence theoremsof periodic traveling
wave solu-tions to the two-dimensional
Korteweg-de
Vriesequation, Applicable Analy- sis,
31(1988),
pp. 1-10.[5] P.
Guo,
Global solutionsof
thegeneralized
KdVequation,
Acta Math. Sini- ca,25,
n. 6 (1983) (in Chinese).[6] B. B. KADOMTSEV - V. I. PETVIASHVILI, On the
stability of solitary
waves inweakly dispersing media,
Dokl. Akad. NaukSSSR,
192 (1970), pp.753-756.
[7] D. J. KORTEWEG - G. DE
VRIES,
On thechange of form of long
waves ad-vancing in
arectangular
canal, and on a new typeof long stationary
waves, Phil.Mag. (5),
39(1895),
pp. 422-443.[8] R. J. LEVEQUE, On the interaction
of nearly equal
solitons in the KdVequation,
SIAM J.Appl. Math., 47,
n. 2 (1987).[9] R. M.
MIURA,
TheKorteweg-de
Vriesequation:
A surveyof results,
SIAMRev.,
18, n. 3(1976),
pp. 412-459.[10] M.
SCHWARTZ jr.,
Periodic solutionsof
Kadomtsev-Petviashviliequation,
Advances in
Math.,
66 (1987), pp. 217-233.[11] D. WU - S.
WEN,
On the interactionof the
twonearly equal
solitons in thetwo-dimensional KdV
equation, Proceedings
of the International Confer-ence on Differential
Equations, Columbus,
Ohio (1988).[12] D. WU - S.
WEN,
Auniqueness
theoremfor
the two-dimensionalgeneral-
ized
Korteweg-de
Vriesequation,
J. Math. Anal.Appl. ,
158, No. 1(1991),
pp. 203-212.
[13] N. J. ZABUSKY - M. D.
KRUSKAL,
Interactionsof
solitons in a collisionlessplasma
and the recurrenceof
initial states,Phys.
Rev.Lett.,
15(1965),
pp.240-243.
Manoscritto pervenuto in redazione il 5 settembre 1990.