A NNALES DE LA FACULTÉ DES SCIENCES DE T OULOUSE
G EORGE D INCA
P ANAGIOTIS D. P ANAGIOTOPOULOS
G ABRIELA P OP
An existence result on noncoercive hemivariational inequalities
Annales de la faculté des sciences de Toulouse 6
esérie, tome 6, n
o4 (1997), p. 609-632
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- 609 -
An Existence Result
onNoncoercive Hemivariational Inequalities(*)
GEORGE
DINCA(1),
PANAGIOTIS D.PANAGIOTOPOULOS(2)
and GABRIELA
POP(1)
Annales de la Faculte des Sciences de Toulouse Vol. VI, nO 4, 1997
R~SUM~. - On donne des resultats concernant l’existence de la solu- tion des inegalites hemivariationnelles non coercives sur des ensembles
convexes dans un espace hilbertien de dimension infinie. Les demonstra- tions utilisent essentiellement l’existence de la solution en dimension finie et certaines techniques de regularisation.
ABSTRACT. - In the present paper nonc0153rcive hemivariational in-
equalities on convex sets are studied. Applying the method of recession
cones using a regularisation procedure and beginning from a finite di- mensional problem we derive sufficient conditions for the existence of the solution.
1. Introduction -
The
theory
of hemivariationalinequalities
hasbegun
some years ago with the works of the second author(see [20]) concerning
the derivation of variationalexpressions
for nonconvex nonsmooth energyfunctions.
Such variationalexpressions
are called hemivariationalinequalities
and theirderivation is based on the notion of
generalized gradient
of F. H. Clarke[7].
For acomplete
list of references on thesubject
we refer to[21].
The aim of the present paper is to
give
an existence result for noncoercive hemivariationalinequalities
on convex sets in a real Hilbert space. For variationalinequalities
which are noncoercive such results can be found in(*) Recu le 20 septembre 1995
~ Faculty of Mathematics, Bucharest University, Str. Academiei 14, 70109 Bucharest
(Romania)
~ Department of Civil Engineering, Aristotle University, GR-54006 Thessaloniki
(Greece)
the works of Fichera
([10], [11]),
and Lions andStampacchia [17].
In[2], Baiocchi,
Gastaldi and Tomarelli extend andunify
these well-known results.There is
partial overlapping
of their results and those contained in Brezis and Haraux[3]
and Brezis andNirenberg [4].
Some ideas from a paper of Goeleven[12]
will be used in thepresent
paper. Our framework is thefollowing:
Q is an open bounded subset in V is an infinite dimensional real Hilbert space with the scalar
product ( . , . )
andnorm ]] . ]] ,
such thatV C
L2(S2)
CV*,
, theinjection
of V inL2(52) being compact; (1)
the
duality pairing
between V and V* will be denotedby ( ~ , ~ );
is a bilinear continuous form on V with values in
R;
K C V is a
closed, non-empty
convex set ;(3)
i : v -~
~.~, v)
is a linear continuous functional onV ; (4) ,Q
E,Q(~ ~ 0)
exist forany /
E R and there is~o
E R such thatj
is definedby
We consider the functions:
They
areincreasing
anddecreasing
functions ofrespectively; therefore,
the limits
0+
exist. We denote themby ,D(~)
and_,Q(~) respectively.
Chang [6]
has shown that if,Q
EL~
and,Q(~ ~ 0)
exist forevery ç
ER,
then a
locally Lipschitz function j :
I~8 -~ R can be determinedby simple integration, i.e., j (~)
=fo dt, such that
where
(aC j )(~)
stands for thegeneralized gradient
of Clarkefor j
atpoint
ç (cf.
Clarke[7],
Aubin[1]).
According
to Rockafellar(see [23,
p.62]),
we call recession cone of K(asymptotic
cone,according
to Bourbaki’sbook, [5,
p.125])
the set(see
alsoBaiocchi,
Gastaldi and Tomarelli[2,
p.623]).
This definition is
independent
of xo . Thefollowing
results hold:is a closed convex cone with vertex at the
origin; (9)
if ~~ is a cone, then =
K; (10)
if 0 ~ K,
then K~ ~ K.(11)
An element w E V
belongs
to if andonly
if either of thefollowing
conditions is satisfied:
Let T * E
,C ( t~, V*)
be theadjoint
ofT: :We denote
by
and
by
We say that
K+ (T, K)
is solid if itstopological
interior is not empty:Remark 1.1.- Let us assume that
N(T, li) ~ f 0}
and denoteby
Then we
get
2)
ifKer(T+T*)
is finitedimensional,
thenK+(T, K)
=K)}.
Proof
o
_
1)
Letxa
E(T, K).
There exists £ > 0 such thatxo
+ x* EK+ (T, ~i )
for any x* E V* for which £. Let y E
N(T, ~~), y ~ 0
andx1
E V*be defined as follows:
Since ~x*1~ ~ ~
weget x*0 + x*1
EK+(T, h’)
.Consequently , y~
>0,
which
implies
.the last
inequality entailing .eg
Eint { (T, ~~’) } .
2)
Next we prove that in caseKer(T
+T*)
is finitedimensional,
theinclusion
holds. Since C it is
enough
to show thatint ~ ~i ) ~
is open(or, equivalently
V*B int ~ K+ (T, ~1’) ~
isclosed).
In order to prove it let
(x~) n
C V*B int ~ K+ (T, .~’) }
be a sequence suchthat
xn
-~ x* in V*.Then,
for any n there exists yn eN(T, K),
0,
such that(xn, yn ~
0. Let thesequence (n
=I E N (T, J{).
.Since
Ker(T
+T*)
is finitedimensional,
we can assume(passing
to asubsequence
ifnecessary)
that(n
2014~(
E ,~ ~ ~ ~ ~
= 1.Using
~x~, (n) _ 0,
weobviously
get{x*, ~~ 0,
where(
EN(T, Ii), ~ ~ 0,
that is x* E V *
B int ~ IZ’+ (T, ~i ) ~
.DEFINITION 1.1. - We say that T E
£(V, V*)
is"positive plus"
on ~1’if
the
following
conditions arefulfilled:
~ >_~~
;and
Remark 1.2
(Mironescu, ~18)).-
If T E£(V, V*),
thenObviously, only
the"only
if"part
should beproved.
Let x E If x =
0,
then(Tz, , x ~
= 0. .Suppose :c ~ 0
and let xo be anypoint
inThen,
forany t > 0,
xo + tx E J{. .
Consequently,
Taking
the limit as t ~ ~, we furtherget x~
> 0.According
to thisremark,
the Definition l.l isequivalent
to Goeleven’sdefinition
[12]
where the condition(i)
is formulated asx}
>0,
d x E~~ U
The Definition 1.1 of
"positive plus" operators
seems to be a technicalone. Note that the classe of
"positive plus"
operators,basically
introducedby
Goeleven in[12],
includes the classes ofcopositive plus
matrices(cf.
Lemke
[16]),
ofcopositive plus
operators(cf.
Gowda and Seidman[14])
and also the class of semi coercive operators
(cf.
Fichera[11];
see also theconcluding
remarks of the presentpaper).
2. The main result
THEOREM 2.1.
Suppose
that conditions(1)-(5)
aresatisfied.
More-over, let the
following
conditions hold true:(i~
T ispositive plus
onK;
(it ) h’+(T,
issolid;
(iii)
the map x --~x~
isweakly
lowersemicontinuous;
(iv)
every sequence C V such that = 1 andlim infTxn, xn~
= 0 has a
subsequence
k, such that xnk~
x in V and x~
0.Then, for
every l EK),
the solution setof
hemivariationalinequality:
is
nonempty.
(In (15),
stands for the directional Clarke
derivative).
Remark 2.1.- Let us remark
first,
thathypothesis (iv)
in Theorem 2.1implies
thatKer(T
+T*)
is of finite dimension.Indeed,
in case it were not true, there would exist CKer(T+ T*)
such that
But
{Txn
=0, hence, using
thehypothesis (iv),
it follows that there exists asubsequence
C such thatwhich
obviously
contradicts theprevious equation.
Remark 2.2. - From the Remarks
1.1,
2.1 andusing
thehypothesis (iv)
in the Theorem 2.1 too, it follows that if
N(T, h’) ~ ~0~,
thenThe
previously
derived result will besystematically
used as anargument
inproving
the Theorem 2.1.We will prove first the
following
intermediate result.PROPOSITION 2.1. ~et us assume the
hypotheses of
Theorem ,~.1 to besatisfied
and let ~ E(0,1)
bearbitrarily
chosen.Then,
there is uE E ~~(not necessarily unique)
such that:where
,QE
is themollification of ,Q, i. e., ~3~
= withand
Proof
o
-
Step
I. SinceK+(T, K)
is solid(hypothesis (it)),
weget R’+ (T, K) # 0.
o
-
Using
thehypothesis
£ eT(K) - Ii+(T, Ii),
we further infer that there exists zo e K such thatStep
2. Denoteby
thefamily
of all finite dimensionalsubspaces
of Vwhich contain xo. If F E then there is
uF
E Ii n F such thatFor the
proof,
let J . F -~F*,
defined as follows:F
being
endowed with the norm induced from V. We shall show that J is continuous.Indeed,
if un~
u, then iseasily
seen thatc
being
the constant used to express the continuousimbedding
of V intoL2(0),
and theproblem
reduces toshowing
thatBut,
theinjection
of V intoL2(S2) being continuous,
we haveand, consequently,
there exists asubsequence
C such thatunk "~ ~ a.e. on Q. It is
easily
seen that for any tl , t2 E we have:Consequently,
On the other
hand, |03B2~(t)| ~ ~03B2~L~(R),
forany t ~ R and,
from the classical dominated convergencetheorem,
it follows thatSo,
we have thefollowing
result: if u~-~
u, then there exists asubsequence
C such thatIt follows from this that
Indeed,
if one assumes on the contrary that the above limit isfalse,
thenone
easily
obtains a contradiction to the result stated above.For each n E
N,
letBn
={u
EV n } .
As xo EF,
for nsufficiently large,
the compact convex set =KnFnBn
contains :co.By using
a classical result(see
Theorem 3.1 in Kinderlehrer andStampacchia [15])
for any such n there is un EIin
such thatthat is
We shall show that the sequence is bounded.
Suppose
to thecontrary,
that isunbounded,
i.e.(passing
to asubsequence
ifnecessary)
--~ oo and letPassing (if necessary)
to asubsequence,
we can suppose thatLet us show that ? e
N(T, K)
= nKer(T
+T*).
We show first that x E K° .According
to(13)
it is sufhcient to show that for any v E K andLet v E K
and a >
0. For nsufficiently large,
we haveE ~ 0 , 1 ~ ]
and, by
theconvexity
of~i ,
that is
Passing
to the limit one obtains v + ax E ~i .As x E and T is
positive plus
onK,
in order to provethat
x E
Ker(T
+T*)
itis
sufficient to prove that~~
= 0.According
to(21)
we havefor n
sufficiently large.
At this moment we need the
following auxiliary
result(see
theproof
ofLemma 2.1 in
Panagiotopoulos [22]
or Rauch and McKenna[19]):
there arethe constants pi >
0,
p2 = which do notdepend ofc,
such that:Consequently,
one hasBy combining (22)
and(24)
one obtainsNow,
divideby
in(25)
and pass to the limit. One obtains~~
0that
is,
infact, (Tx, , ~~
= 0and, consequently, x
EKer(T + T*).
Let us resume:
assuming
that the sequence is not bounded we infer the existence of x such thathold. But this entails a contradiction.
Indeed,
the caseN(T, K)
={0}
is inconsistent with ? EN(T,
and~~x~~ = 1.
If
N(T, Ii ) ~ {0} then,
from(17)
and Remark2.2,
weget
On the other hand
by
thepositivity
ofT, 0,
sothat, taking
into account
(25)
it follows thatDividing by
andpassing
to the limit one obtainsBut, taking
into account that ? EKer(T
+T*),
we also havetherefore,
which contradicts
(26).
The sequence
(Un)n
with un E n F nBn
andsatisfying (21) is, consequently,
bounded. We can suppose(passing
to asubsequence
ifnecessary)
thatTo conclude the
proof
forStep
2 we shall show that such an u satisfiesIndeed,
let v be anarbitrary
element in K n F.For n
sufficiently large,
v EKn
= ~i n F nand, consequently,
Taking
into account theprevious results,
we have:Consequently, passing
to the limit in(28), inequality (27)
follows.Let us underline the result obtained above: if F is a finite dimensional
subspace
of V such that xo EF,
then there existsuj~
E K n F such that(18)
is satisfied.Step
3. Let F e andFor every F e
the
set~~
is(nonempty and)
bounded.Indeed,
let us suppose thecontrary:
there exist un eh, ~ (un ( ~
-~ oo andF~
D F such that :By using
the same arguments asabove,
we have:As x0 ~ Ii n F n
F’n
for any n, wehave,
inparticular,
Let Xn =
Passing
to asubsequence,
if necessary, we can supposeWe shall prove that x e
N(T,
= nKer(T
+T*).
We show first that x E .
To do
it,
let v be anarbitrary
element in Ii and a>
0. For nsufficiently large,
we haveE [0, 1] and, consequently,
which can also be written as
Taking
the weaklimit,
it follows that v + o;?(being
convex andclosed,
~1’ is
weakly closed),
whichimplies x
EAs T is
positive plus
on in order to prove that x eKer(T+ T*),
it issufficient to show that
x~
= .0. To doit,
let us divide(31) by
One obtains:
Taking
thesup-limit
in thisinequality
one has:On the other
hand, by using
thepositivity
of T and condition(iii),
it followsthat:
therefore, ~~
= 0.Let us observe
that ~ ~
0. This is asimple
consequence ofand
hypotesis (iv).
Let us resume:
assuming
thatYF
were notbounded,
the element x obtained as above would be suchthat, simultaneously, ~ ~
0 and ? EN(T, ~~).
But this entails a contradiction.Indeed,
the caseN(T,
=~0~
is inconsistent with x E
N (T, and ~ ~
0. IfN (T, ~~ ) ~ ~ 0 ~ then,
from(17)
and Remark2.2,
we obtainOn the other
hand, by
thepositivity
ofT,
one hasBy combining
this lastinequality
with(31)
anddividing by
one derives:Passing
to the limit in(33) (and taking
into the account that operator T is"weak to weak
continuous" )
one obtains:With the
technique
used forStep
2 we derive from this theinequality
belowwhich contradicts
(32).
Step 4.
Now we are able to indicate an element uE E K which satisfies(16).
To doit,
weproceed
as follows:according
to theprevious result,
for every F E ,
V~,
is a(nonempty)
bounded set contained in ~~ .Consequently,
the weak closure ofV~
~’ isweakly compact
and alsocontained in K.
Fix
Fo E
and consider thefamily {V~F
03C9 nV~F0
03C9(
F E(it
is afamily
ofweakly
closed subsets contained in theweakly compact
set~’).
Obviously,
thisfamily
has the finite intersectionproperty. Consequently,
Consider an element u~ E
V~F 03C9.
We shall show that such an element satisfies(16).
Indeed,
let v and F E such that v E F. Because u~ E ,there is a sequence
(Un) n
CV~
such that un~
Uê.Taking (29)
intoaccount, this
implies:
there existFn
EFn
J F such thatIn
particular,
Because un
~
ue and T is weak to weakcontinuous,
Moreover, by using hypothesis (iii),
it follows thatFinally,
we shall show thatIndeed,
because theimbedding
of V intoL~(Q)
iscompact,
we have:F
(passing possibly
to asubsequence)
un -~ u~ a.e. on Q .By using
estimation(20),
it follows that a.e. on Q.On the other hand
therefore, by using
Fatou’s lemma one has:which is
precisely (37).
Passing
to thesup-limit
in(34),
andtaking
into account(35), (36)
and(37),
we obtain(16)
and theproof
iscomplete.
Now we are able to
give
thefollowing proof.
Proof of Theorem
2.10
Let f E
T(Ii) - li+(T, li~
and let xp E Ii be such thatAccording
toProposition 2.1,
for every 6; E(0,1)
the set satisfies(16)}
is nonempty.Moreover,
we shall show thatis bounded.
Indeed,
if we suppose on thecontrary
that thisfamily
isunbounded,
wehave: there exists a sequence C
(0,1)
and a sequence C Ksuch that
~
with
~u~n II
~ 00’By using
the estimations(23) again,
weeasily
derive from(38)
In
particular,
Let us set xn = We can suppose xn
~
x.By using arguments
like those used forStep
3 in theproof
ofProposition
2.1(inequality (39) replacing (31)
thistime)
one obtains:But this entails a
contradiction. Indeed,
the caseN(T, ~~)
=~0~
isinconsistent with x E
N(T, .Fi )
and x~
0 . IfN (T, ~ ~ 0 ~ then,
from0
Txo - f
EK)
and Remark2.2,
weget .~ , ~~
> 0 which isinconsistent with the
already
establishedinequality (Txo - .~ , x~
0.Now,
thefamily U
= E ~~’~ ~
E(0,1),
Uê satisfies(16)} being bounded,
there is ~n ~0+
and a sequence C U such thatu E .
We shall show that u satisfies
( 15) .
Indeed,
let v be anarbitrary
element in K. We have:With the
(same) arguments
used in order to obtain(35), (36), (37)
we canwrite:
The essential
point
consists inshowing
that for any y EII$,
Since we can suppose
(passing, possibly,
to asubsequence)
a.e. on
H,
for theproof
of(44)
it is sufficient to show that for anyx E 0 such that -~
u( x)
and for anyconvergent subsequence
y~ =
{u~~ {x)) (y -
u~n(x)) inequality
holds.
First,
we shall show thatbelong
to(8C j) ~u(x)~
. As a consequence, we shall have:For the
proof,
let x EQ,
with ~u(x) and
> 0 begiven.
Thereexists such
that,
for every n > one hasConsequently,
Therefore
and, passing
to the limit0+,
we deriveAnalogously,
one obtainsThus,
Now,
we are able to prove(45).
If y
=u(x), then y - uEn(x)
-~ 0. Because for anyt E R and any ~ >
0,
it followsthat yk
-> 0.Thus, (45)
is verified.If y > u(x),
thenthe last
inequality being justified by (46).
For the case y
u(x),
a similarprocedure
can be used(by using
theinf-limit this
time).
So(44)
isproved.
From
(43)
and(44)
it follows thatFinally, passing
to thesup-limit
in(40)
andtaking
into account(41), (42),
(47), inequality (15)
follows.3. Some comments and remarks
The
hypotheses concerning
operator T associated to the bilinear form aare those formulated
by
Goeleven[12]
for thestudy
of variationalinequality
In Goeleven
[12],
both V and !{ aresupposed
to beseparable
and thefunctional § :
V -~ R satisfies thefollowing assumptions
(a) ~
is convex and lowersemicontinuous;
(b) ~{au)
=a~(u),
V a >0,
b’ u E Ii .In our paper, instead of
inequality (48)
we consider the hemivariationalinequality (15)
and thehypothesis concerning
theseparability
of V and !{is removed.
Consequently,
ourtechnique
isquite
different from that usedby
Goelevenin [12].
Note that the
assumption
on theseparability
of V and K was deleted alsoby
Goeleven in[13].
Let us also remark that in
[12],
sufficient conditions aregiven,
whichguarantee
the satisfaction ofhypotheses
of Theorem 2.1. To the extent that these conditions concernonly operator T, they
remain valid in our case.To
complete
thepicture,
wegive
these conditions(adding
some commentstoo)
in the next.7.2014 If T E
,C(V, V *)
ispositive
onV, i.e.,
or T is
compact, assumption (iii)
is satisfied.II. - If T is
positive
onV,
then T ispositive plus
on Ii .III. - Let P be the continuous
projector
of V onto[Ker(T
+T*)~ 1.
IfT is semicoercive on h’ U
IZ’°°, i.e.,
then T is
positive plus
onIt can be
proved
without difficulties that T is semicoercive on K U if andonly
if T is semicoercive on K:Obviously,
we need to proveonly
the "~="part.
Let uo E It follows that u + tuo E Vt > 0,
VuE K.Using (T(u
+tuo),
u +tuo~
>we derive
therefore
IV. - If T is semi coercive on V and
dim~Ker
T +T*~
oo thenassumption (iv)
is satisfied.Since in Remark 2.1 we showed :
hypothesis (iv)
=~dim[KerT
+T*]
oo,
consequently,
we have the conclusion: if T is semicoercive on V then theassumption (iv)
in Theorem 2.1 holds if andonly
ifdim[Ker
T +T**]
oo.V.- If there exist al >
0,
a2 > 0 and a real Hilbert space Z with Vcompactly
imbedded in Z such thatthen the
assumption (iv)
is satisfied. Noticethat,
in this case,Ker(T
+T*)
is also finite dimensional
(indeed,
it iseasily
seen that if condition(49) holds,
then the unit ball inKer(T
+T * )
iscompact).
VI
(Proposition
3.1 in[12]). -
Let C be a closed subset of V. If T is semicoercive on C anddim ~Ker(T
+T* )~
oo, then from every sequence C C suchthat ~xn~
= 1 andlim inf Txn, xn ~
=0,
there exists asubsequence
such thatw - lim xnk
= x in V and x~
0.VII. - If T is
symetric (T
=T*)
thenIndeed,
Consequently,
there exists E > 0 suchthat,
for any x * E V*with
6;one has
~Tx~ -.~+x* , y~ > 0,
V y EN(T, K).
As(Txo, y)
=(T*y, xo~
= 00
one deduces that
~-.~
+ x*, y~
>0,
V y EN(T, K),
that is -~ Ek’+ (T, I~).
For the converse
implications,
similararguments
can be used.0
VIII. - If
(a) Ker(T
+T*)
=~o~
or(b)
k’°° _~o~,
thenk’+(T, k~)
=V*.
Consequently, inequality (15)
has a solution forevery £
E V*. Wehave
(a) if,
forexample, (Tx, x)
>0,
V x EV,
x7~ 0 ;
; we have(b)
if Ii isbounded closed convex set.
IX . Let us examine the
particular
case Ii = V.Obviously,
in this caseand the
hypotheses
formulated in the Theorem 2.1 become:(i)
T ispositive plus
on V ~ T ispositive
on V((Tu, u~ > 0, V).
For obvious reasons
only
the part "«" has to beproved.
In other
words,
we have to provethat,
if T ispositive
on V thenIndeed,
let x E V be such that(Tx, x)
= 0 andlet y
be anarbitrary
elementof V.
Then,
for any A >0,
sincewe
get
Taking
the limit as a -~0+,
we obtainSince y
is anarbitrary
element ofV,
thepreviously
consideredinequality
entails
((T
+T*)x, y)
=0,
that is(T
+T*)x
= 0.The
argument
is somehow a standard one.The
assumption (iii)
isimplied by
theassumption (i):
if T ispositive
onV then the
mapping
.c 2014~(Tx, x)
isweakly
lower semicontinuous.Note that
The "«" is
straightforward. Moreover,
if T is coercive then there exists nosequences such
that ~xn~
= 1 andlim infTxn, xn~
= 0 .The
argument
tojustify
the "~"part
can be as follows. Let c =inf(Tx, x~,
hence c > 0.Assuming
that c =0,
there exists a sequence such that = 1 andxn~
- 0.According
to(iv)
there is asubsequence
C such thatBut, using (i)
and its outcome(iii)
it folows:hence
x~
=0,
that is x EKer (T
+T * ) _ ~ 0 ~ ,
whichis, obviously,
acontradiction.
Now,
let us notice that sinceV )
=V * ,
the condition £ Eo .
Ii+ (T, K)
can beexpressed
as "for any .~ E V * " . .Finally, using
thepreviously
describeddevelopments,
we arrive at thefollowing
conclusion.THEOREM 3.1.- Let
a(u, v)
=(Tu, v)
be a bilinear continuous coerciveform
on V and/~
EL°°(II8)
such that the conditions(5)
hold.Then, for
any~ E
V*,
the solution setof
where
j
isdefined by
=fo dt, V ~
E R,
is not empty (to
be compared
to the Theorem
2.1, (22J~.
Acknowledgements
The authors express their thanks to the referee for his valuable sugges- tions.
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