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R E S E A R C H Open Access

Strong convergence theorems by a hybrid extragradient-like approximation method for asymptotically nonexpansive mappings in the intermediate sense in Hilbert spaces

Eskandar Naraghirad1, Ngai-Ching Wong2* and Jen-Chih Yao3

* Correspondence: wong@math.

nsysu.edu.tw

2Department of Applied Mathematics, National Sun Yat-Sen University, Kaohsiung 804, Taiwan Full list of author information is available at the end of the article

Abstract

LetCbe a nonempty closed convex subset of a real Hilbert spaceH. LetS:C®C be an asymptotically nonexpansive map in the intermediate sense with the fixed point setF(S). LetA:C®Hbe a Lipschitz continuous map, andVI(C, A) be the set of solutionsuÎCof the variational inequality

Au,vu ≥0, ∀v∈C.

The purpose of this study is to introduce a hybrid extragradient-like approximation method for finding a common element inF(S) and VI(C, A). We establish some strong convergence theorems for sequences produced by our iterative method.

AMS subject classifications: 49J25; 47H05; 47H09.

Keywords:asymptotically nonexpansive mapping in the intermediate sense, varia- tional inequality, hybrid extragradient-like approximation method, monotone map- ping, fixed point, strong convergence

1 Introduction

LetHbe a real Hilbert space with inner product (·, ·) and norm || · ||, respectively. Let Cbe a nonempty closed convex subset ofHand let PCbe the metric projection from HontoC. A mappingA:C®His calledmonotone[1-3] if

AuAv,uv ≥0, ∀u,vC;

andAis calledk-Lipschitz continuousif there exists a positive constantksuch that AuAvkuv, ∀u,vC.

LetSbe a mapping ofCinto itself. Denote byF(S) the set of fixed points ofS; that is F(S) = {uÎ C:Su=u}. Recall thatSisnonexpansiveif

SuSvuv, ∀u,vC;

andSisasymptotically nonexpansive[4] if there exists a null sequence {gn} in [0, +

∞) such that

© 2011 Naraghirad et al; licensee Springer. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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SnuSnv≤(1 +γn)uv, ∀u,vCandn≥1.

We call S anasymptotically nonexpansive mapping in the intermediate sense[5] if there exists two null sequences {gn} and {cn} in [0, +∞) such that

SnxSny2≤(1 +γn)xy2+cn, ∀x,yC,n≥1.

LetA:C® Hbe a monotone andk-Lipschitz continuous mapping. The variational inequality problem [6] is to find the elementsuÎCsuch that

Au,vu ≥0, ∀v∈C.

The set of solutions of the variational inequality problem is denoted by VI(C, A). The idea of an extragradient iterative process was first introduced by Korpelevich in [7].

When S: C® Cis a uniformly continuous asymptotically nonexpansive mapping in the intermediate sense, a hybrid extragradient-like approximation method was pro- posed by Ceng et al. [8, Theorem 1.1] to ensure theweakconvergence of some algo- rithms for finding a member of F(S) ∩ VI(C, A). Meanwhile, assuming S is nonexpansive, Ceng et al. in [9] introduced an iterative process and proved its strong convergence to a member ofF(S)∩VI(C, A).

It is known that an asymptotically nonexpansive mapping in the intermediate sense is not necessarily nonexpansive. Extending both [8, Theorem 1.1, 9, Theorem 5], the main result, Theorem 1, of this article provides a technical method to show the strong convergence of an iterative scheme to an element ofF(S)∩ VI(C, A), under the weaker assumption on the asymptotical nonexpansivity in the intermediate sense ofS.

2 Strong convergence theorems

Let Cbe a nonempty closed convex subset of a real Hilbert spaceH. For any xinH, there exists a unique element in C, which is denoted byPCx, such that ||x- PCx||≤ ||

x - y|| for all y in C. We callPC themetric projectionofH ontoC. It is well-known thatPCis a nonexpansive mapping fromHontoC, and

x−PCx,PCxy ≥0 for allxH,yC; (1)

see for example [10]. It is easy to see that (1) is equivalent to

xy2xPCx2+yPCx2 for allxH, yC. (2) Let Abe a monotone mapping of CintoH. In the context of variational inequality problems, the characterization of the metric projection (1) implies that

uVI(C,A)u=PC(u−λAu) for someλ >0.

Theorem 1.Let C be a nonempty closed convex subset of a real Hilbert space H.Let A :C ® H be a monotone and k-Lipschitz continuous mapping. Let S: C® C be a uniformly continuous asymptotically nonexpansive mapping in the intermediate sense with nonnegative null sequences {gn}and{cn}.Suppose that

n=1λn<∞and F(S)⋂VI (C, A)is nonempty and bounded.

Assume that

(i)0 <μ≤1,and0<a<b< 8k3μ;

(ii) a≤ln≤b,an≥0,bn≥0,an+bn≤1,and3/4 <δn≤1,for all n≥0;

(3)

(iii) liman= 0;

(iv)lim infbn> 0;

(v)limbn= 1.

Set, for all n≥0,

n= sup{xnu:uF(S)VI(C,A)}, dn= 2b(1−μ)αnn,

wn=b2μαn+ 4b2μ2βn(1−δn)(1 +γn),

vn=b2(1−μ)αn+ 4b2(1−μ)2βn(1−δn)(1 +γn), and ϑn=βnγn2n+βncn.

Let {xn}, {yn}and{zn}be sequences generated by the algorithm:

⎧⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎩

x0C chosen arbitrarily,

yn= (1−δn)xn+δnPC(xnλnμAxnλn(1−μ)Ayn), zn= (1−αnβn)xn+αnyn+βnSnPC(xnλnAyn),

Cn={zC:znz2xnz2+dnAyn+wnAxn2+vnAyn2+ϑn}, Qn={zC:xnz,x0xn ≥0},

xn+1=PCnQn(x0), ∀n≥0.

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Then, the sequences{xn}, {yn}and{zn}in (3) are well-defined and converge strongly to the same point q = PF(S)VI(C,A)(x0).

Proof. First note that limgn = lim cn= 0. We will see that {Δn} is bounded, and thus limdn= limwn= limvn= limϑn= 0.

We divide the proof into several steps.

Step 1. We claim that the following statements hold:

(a)Cnis closed and convex for allnÎN;

(b) ||zn -u||2 ≤||xn- u||2 +dn||Ayn|| + wn||Axn||2 +vn||Ayn||2n for alln ≥0 and uÎF(S)⋂VI(C, A);

(c)F(S)⋂VI(C, A)⊂Cnfor all nÎN.

It is obvious that Cnis closed for allnÎN. On the other hand, the defining inequal- ity inCnis equivalent to the inequality

2(xnzn),zxn2zn2+dnAyn+wnAxn2+vnAyn2+ϑn, which is affine inz. Therefore, Cnis convex.

Let tn=PC(xn- lnAyn) for alln≥0. Assume thatuÎ F(S)⋂VI(C, A) is arbitrary. In view of (3), the monotonicity ofA, and the factuÎVI(C, A), we conclude that

tnu2

xnλnAynu2xnλnAyntn2

=xnu2− xntn2+ 2λnAyn,utn

=xnu2− xntn2+ 2λn[AynAu,uyn+Au,uyn+Ayn,yntn]

≤ xnu2− xntn2+ 2λnAyn,yntn

=xnu2xnyn2−2xnyn,yntnyntn2+ 2λnAyn,yntn

=xnu2xnyn2yntn2+ 2xnλnAynyn,tnyn.

(4)

(4)

Now, using

yn= (1−δn)xn+δnPC(xnλnμAxnλn(1−μ)Ayn), we estimate the last term

xnλnAynyn,tnyn

= xnλnμAxnλn(1μ)Aynyn,tnyn+λnμAxnAyn,tnyn

xnλnμAxnλn(1μ)Ayn(1δn)xnδnPC(xnλnμAxnλn(1μ)Ayn),tnyn +λnμAxnAyntnyn

δnxnλnμAxnλn(1μ)AynPC(xnλnμAxnλn(1μ)Ayn),tnyn

(1δnnμAxn+ (1μ)Ayn,tnyn+λnμkxnyntnyn.

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It follows from the properties (1) and (2) of the projectionPC(xn-lnμAxn- ln(1 -μ) Ayn) that

xnλnμAxnλn(1μ)AynPC(xnλnμAxnλn(1μ)Ayn),tnyn

= xnλnμAxnλn(1μ)AynPC(xnλnμAxnλn(1μ)Ayn), tn(1δn)xnδnPC(xnλnμAxnλn(1μ)Ayn)

= (1δn)xnλnμAxnλn(1μ)AynPC(xnλnμAxnλn(1μ)Ayn),tnxn +δnxnλnμAxnλn(1μ)AynPC(xnλnμAxnλn(1μ)Ayn),

tnPC(xnλnμAxnλn(1μ)Ayn)

(1δn)xnλnμAxnλn(1μ)AynPC(xnλnμAxnλn(1μ)Ayn),tnxn

(1δn)xnλnμAxnλn(1μ)AynPC(xnλnμAxnλn(1μ)Ayntnxn

(1δn)λnμAxn+λn(1μ)Ayntnxn

(1δnnAxn+ (1μ)Ayn)(tnyn+ynxn).

(6)

In view of (4)-(6),ln ≤b, and the inequalities 2ab≤ a2 +b2and (a+b)2 ≤2a2 + 2b2, we conclude that

tnu2≤ xnu2xnyn2yntn2+ 2xnλnAynyn,tnyn

≤ xnu2xnyn2yntn2 + 2λn

δn(1δn)(μAxn+ (1μ)Ayn)(tnyn+ynxn)

2(1δn)λnμAxn+ (1μ)Ayn,tnyn+ 2λnμkxnyntnyn

≤ xnu2xnyn2yntn2

+ 2δn(1δn)b(μAxn+ (1μ)Ayn)(tnyn+ynxn)

+ 2(1δn)b(μAxn+ (1μ)Ayn)tnyn+ 2bμkxnyntnyn

=xnu2xnyn2yntn2

+ 2δn(1δn)(b2μ2Axn2+b2(1μ)2Ayn2+tnyn2+ynxn2) + (1δn)(b2μ2Axn2+b2(1μ)2Ayn2+ 2tnyn2)

+bμk(xnyn2+tnyn2)

=xnu2xnyn2(1n(1δn)bkμ)

tnyn2(2δn2δnbkμ)

+ 2(1δn2)b2μ2Axn2+ 2(1δ2n)b2(1μ)2Ayn2.

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Since 34< δn≤1andb< 8kμ3 , we have from (7) for allnÎ N,

tnu2xnu2+ 4(1−δn)b2μ2Axn2+ 4(1−δn)b2(1−μ)2Ayn2. (8)

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In view of the fact thatuÎVI(A, C) and properties ofPC, we obtain

ynu2=(1δn)(xnu) +δn(PC(xnλnμAxnλn(1μ)Ayn)u)2

(1δn)xnu2+δnPC(xnλnμAxnλn(1μ)Ayn)PC(u)2

(1δn)xnu2+δnxnλnμAxnλn(1μ)Aynu2

= (1δn)xnu2+δn

xnu2nμAxn+λn(1μ)Ayn,xnu +λnμAxn+λn(1μ)Ayn2

= (1δn)xnu2+δn

xnu2nμAxn,xnu −n(1μ)Ayn,xnu

+λnμAxn+λn(1μ)Ayn2

(1δn)xnu2+δn

xnu2+ 2λn(1μ)Aynxnu

+λ2nμAxn2+λ2n(1μ)Ayn2

(1δn)xnu2+δn

xnu2+ 2b(1μ)nAyn

+b2μAxn2+b2(1μ)Ayn2

≤ xnu2+δn

2b(1μ)nAyn+b2μ2Axn2+b2(1μ)2Ayn2

≤ xnu2+ 2b(1μ)nAyn+b2μAxn2+b2(1μ)Ayn2.

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SinceSis asymptotically nonexpansive in the intermediate sense, in view ofSnu =u, we conclude that

znu2=(1αnβn)xn+αnyn+βnSntnu2

(1αnβn)xnu2+αnynu2+βnSntnu2

(1αnβn)xnu2 +αn

xnu2+ 2b(1μ)nAyn+b2μAxn2+b2(1μ)Ayn2 +βn

(1 +γn)tnu2+cn

(1αnβn)xnu2 +αn

xnu2+ 2b(1μ)nAyn+b2μAxn2+b2(1μ)Ayn2 +βn(1 +γn)

xnu2+ 2(1δn)b2μ2Axn2+ 2(1δn)b2(1μ)2Ayn2

+βncn

≤ xnu2+βnγn2n+ 2b(1μ)αnnAyn + (b2μαn+ 2b2μ2βn(1δn)(1 +γn))Axn2

+ (b2(1μ)αn+ 2b2(1μ)2βn(1δn)(1 +γn))Ayn2 +βncn.

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This implies that uÎCn. Therefore,F(S)⋂VI(C, A)⊂Cn.

Step 2. We prove that the sequence {xn} is well-defined and F(S)⋂VI(C, A)⊂Cn⋂ Qnfor alln≥0.

We prove this assertion by mathematical induction. Forn= 0 we getQ0 =C. Hence, by step 1, we deduce that F(S)⋂ VI(C, A)⊂C1⋂ Q1. Assume that xkis defined andF (S)⋂VI(C, A)⊂Ck⋂ Qk for somek≥ 1. Then,yk,zk are well-defined elements ofC.

We notice that Ckis a closed convex subset of Csince

Ck={z∈C:zkxk2+ 2zkxk,xkz ≤dnAyn+wnAxn2+vnAyn2+ϑn}.

It is easy to see that Qkis closed and convex. Therefore,Ck⋂Qkis a closed and con- vex subset of C, since by the assumption we have F(S)⋂ VI(C, A)⊂ Ck ⋂ Qk. This means thatPCkQkx0is well-defined.

By the definition of xk+1and ofQk+1, we deduce thatCk⋂ Qk⊂ Qk+1. Hence, F(S)⋂ VI(C, A)⊂Qk+1. Exploiting Step 1 we conclude thatF(S)⋂VI(C, A)⊂Ck+1⋂Qk+1.

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Step 3. We claim that the following assertions hold:

(d) lim||xn-x0|| exists and hence {xn}, as well as {Δn}, is bounded.

(e) lim||xn+1-xn|| = 0.

(f) lim||zn- xn|| = 0.

Let uÎ F(S)⋂ VI(C, A). Since xn+1=PCnQnx0andu ÎF(S)⋂VI(C, A)⊂Cn ⋂Qn, we conclude that

xn+1x0 ≤ u−x0, ∀n≥0. (11) This means that {xn} is bounded, and so are {yn}, Axnand {Ayn}, because of the Lipschitz-continuity ofA. On the other hand, we have xn=PQnx0andxn+1ÎCn⋂ Qn

⊂Qn. This implies that

xn+1xn2xn+1x02xnx02, ∀n≥0. (12) In particular, ||xn+1-x0||≥||xn-x0|| hence lim||xn-x0|| exists. It follows from (12) that

limn→∞(xn+1xn) = 0. (13)

Since xn+1ÎCn, we obtain

znxn+12xnxn+12+dnAyn+wnAxn2+vnAyn2+ϑn.

In view of limgn= 0, liman = 0, limδn= 1 and from the boundedness of {Axn} and {Ayn} we infer that lim (xn+1 - zn) = 0. Combining with (13) we deduce that lim(xn-zn) = 0.

Step 4. We claim that the following assertions hold:

(g) lim||xn-yn||=0.

(h) lim||Sxn-xn|| = 0.

In view of (3), zn= (1 -an- bn)xn+anyn+bnSntn, andSnu =u, we obtain from (9) and (8) that

znu2

=(1αnβn)xn+αnyn+βnSntnu2

(1αnβn)xnu2+αnynu2+βnSntnu2

(1αnβn)xnu2 + αn

xnu2+ 2b(1μ)nAyn+b2μAxn2+b2(1μ)Ayn2 + βn

(1 +γn)tnu2+cn

(1αnβn)xnu2 + αn

xnu2+ 2b(1μ)nAyn+b2μAxn2(1μ)Ayn2 + βn(1 +γn)

xnu2(1n(1δn)xnyn2bkμ)

(2δ2n1bkμ)tnyn2+ 4(1δn)b2μ2Axn2 + 4(1δn)b2(1μ)2Ayn2+βncn

≤ xnu2+βnγn2n+βncn

+ 2b(1μ)αnnAyn+

b2μαn+ 4b2μ2βn(1 +γn)(1δn) Axn2 +

b2(1μ)αn+ 4b2(1μ)2βn(1 +γn)(1δn) Ayn2

βn(1 +γn)(1n(1δn)bkμ) xnyn2

βn(1 +γn)(2δ2nδnbkμ) tnyn2.

(14)

(7)

Thus, we have

βn(1 +γn)(1−2δn(1−δn)−bkμ)xnyn2

≤ xnu2− znu2+βnγn2n+βncn

+ 2b(1−μ)αnnAyn+

b2μαn+ 4b2μ2βn(1 +γn)(1−δn) Axn2 +

b2(1−μ)αn+ 4b2(1−μ)2βn(1 +γn)(1−δn) Ayn2

≤(xnu+znu)xnzn+βnγn2n+βncn

+ 2b(1−μ)αnnAyn+

b2μαn+ 4b2μ2βn(1 +γn)(1−δn) Axn2 +

b2(1−μ)αn+ 4b2(1−μ)2βn(1 +γn)(1−δn) Ayn2.

Since bkμ< 3/8 and 3/4≤δn≤1 for alln≥0, we have limn→∞xnyn2= 0.

In the same manner, from (14), we conclude that limn→∞tnyn2= 0.

Since Ais k-Lipschitz continuous, we obtain ||Ayn- Axn||®0. On the other hand, xntn ≤xnyn+yntn,

which implies that ||xn - tn|| ® 0. Since zn = (1 - an - bn)xn+ anyn +bnSntn, we have

znxn=−αnxn+αnyn+βn(sntnxn).

From ||zn-xn||® 0,an®0, lim infn®0 bn> 0 and the boundedness of {xn,yn} we deduce that ||Sntn-xn||®0. Thus, we get ||tn-Sntn||® 0. By the triangle inequality, we obtain

xnSnxnxntn+tnSntn+SntnSnxn

≤ xntn+tnSntn+

(1 +γn)tnxn+cn.

Hence, ||xn-Snxn||®0. Since ||xn-xn+1||®0, it follows from Lemma 2.7 of Sahu et al. [5] that ||xn- Sxn||®0. By the uniform continuity of S, we obtain ||xn-Smxn||

® 0 asn®∞for allm≥1.

Step 5. We claim thatωw(xn)⊂F(S)⋂VI(C, A), where

ωw(xn) :={xH:xnjxweakly for some subsequence{xnj}of{xn}}. The proof of this step is similar to that of [8, Theorem 1.1, step 5] and we omit it.

A similar argument as mentioned in [9, Theorem 5, Step 6] proves the following assertion.

Step 6. The sequences {xn}, {yn} and {zn} converge strongly to the same pointq =PF (S)⋂VI(C,A)(x0), which completes the proof.

For an = 0, bn= 1 and δn = 1 for alln Î N in Theorem 1, we get the following corollary.

Corollary 2.Let C be a nonempty closed convex subset of a real Hilbert spaces H. Let A:C®H be a monotone and k-Lipschitz continuous mapping and let S:C®C be a

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uniformly continuous asymptotically nonexpansive mapping in the intermediate sense with nonnegative null sequences{gn}and{cn}.

Suppose that

n=1γn<∞and F(S)⋂VI(C, A)is nonempty and bounded. Set ϑn = gnΔn+cn. Letμbe a constant in(0, 1],and let {ln}be a sequence in [a, b]with a> 0 andb< 8k3μ.

Let{xn}, {yn}and{zn}be sequences generated by

⎧⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎩

x0C chosen arbitrarily,

yn=PC(xnλnμAxnλn(1−μ)Ayn), zn=SnPC(xnλnAyn),

Cn={z∈C:znz2≤ xnz2+ϑn}, Qn={zC:xnz,x0xn ≥0}, xn+1=PCn∩Qn(x0), ∀n≥0.

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Then, the sequences {xn}, {yn}and{zn}in (15) are well-defined and converge strongly to the same point q =PF(S)VI(C,A)(x0).

In Theorem 1, if we set an = 0 andbn = 1 for alln ÎN then the following result concerning variational inequality problems holds.

Corollary 3.Let C be a nonempty closed convex subset of a real Hilbert spaces H. Let A:C®H be a monotone and k-Lipschitz continuous mapping and let S:C®C be a uniformly continuous asymptotically nonexpansive mapping in the intermediate sense with null sequences {gn}and{cn}.

Suppose that

n=1γn<∞and F(S)⋂VI(C, A)is nonempty and bounded. Letμbe a constant in (0, 1],let {ln}be a sequence in[a, b]with a> 0andb< 8kμ3 , and let{δn} be a sequence in [0, 1]such that lim δn= 1andδn> 34for all n≥0.Set Δn= sup {||xn- u|| :uÎ F(S)⋂VI(C, A)},wn = 4b2μ2(1 +gn)(1 -δn),ϑn=gnΔn+cnfor all n≥ 0.

Let{xn}, {yn}and{zn}be sequences generated by

⎧⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎩

x0C chosen arbitrarily,

yn= (1−δn)xn+δnPC(xnλnμAxnλn(1−μ)Ayn), zn=SnPC(xnλnAyn),

Cn={zC:znz2xnz2+wnAxn2+ϑn}, Qn={zC:xnz,x0xn ≥0},

xn+1=PCn∩Qn(x0), ∀n≥0.

(16)

Then, the sequences {xn}, {yn}and{zn}in (16) are well-defined and converge strongly to the same point q =PF(s)VI(C,A)(x0).

The following theorem is yet an other easy consequence of Theorem 1.

Corollary 4.Let H be a real Hilbert space.Let A : H® H be a monotone and k- Lipschitz continuous mapping and let S :H®H be a uniformly continuous asymptoti- cally nonexpan-sive mapping in the intermediate sense with null sequences {gn}and {cn}.

Suppose that

n=1γn<∞and F(S) ⋂A-1(0) is nonempty and bounded. Let μbe a constant in(0, 1], let{ln}be a sequence in [a, 3b/4]with0<4a/3<b< 8k3μ,and let {an}, {bn}and{δn}be three sequences in[0, 1]satisfying the following conditions:

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