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RETRACTIONS IN BANACH SPACES

ARKADY ALEYNER AND SIMEON REICH Received 22 March 2005

An explicit algorithmic scheme for constructing the unique sunny nonexpansive retrac- tion onto the common fixed point set of a nonlinear semigroup of nonexpansive map- pings in a Banach space is analyzed and a proof of convergence is given.

1. Introduction

Throughout this paper all vector spaces are real and we denote by N and R+ the set of nonnegative integers and nonnegative real numbers, respectively. Let (X, · ) be a Banach space and letXbe its dual. The value ofyXatxXwill be denoted by x,y. We also denote byJ:X2Xthe normalized duality map fromXinto the family of nonempty (by the Hahn-Banach theorem) weak-star compact convex subsets ofX, which is defined byJx= {xX:x,x = x2= x2}for allxX. The Banach spaceXis said to be smooth or to have a Gˆateaux differentiable norm if the limit

limt0

x+tyx

t (1.1)

exists for eachx,yX withx = y =1. The spaceX is said to have a uniformly Gˆateaux differentiable norm if, for each yX withy =1, the limit (1.1) is attained uniformly inxX withx =1. It is known [12, Lemma 2.2] that if the norm ofX is uniformly Gˆateaux differentiable, then the duality map is single-valued and norm to weak star uniformly continuous on each bounded subset ofX. Let Cbe a nonempty, closed and convex subset ofXandEbe a nonempty subset ofC. A mappingQ:CX isnonexpansiveifQxQyxyfor allx,yC. A mappingQ:CEis called a retractionfromContoEifQx=xfor allxE. A retractionQfromContoEis called sunnyifQhas the following property:Q(Qx+t(xQx))=Qx for allxCandt0 withQx+t(xQx)C. It is known [6, Lemma 13.1] that in a smooth Banach spaceX, a retractionQfromContoEis both sunny and nonexpansive if and only if

xQx,J(yQx)0 (1.2)

for allxCandyE. Hence, there is at most one sunny nonexpansive retraction from ContoE. For example, ifEis a nonempty, closed and convex subset of a Hilbert space

Copyright©2005 Hindawi Publishing Corporation Fixed Point Theory and Applications 2005:3 (2005) 295–305 DOI:10.1155/FPTA.2005.295

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H, then the nearest point projectionPEfromH ontoEis the unique sunny nonexpan- sive retraction ofHontoE. This is not true for all Banach spaces, since outside Hilbert space, nearest point projections, although sunny, are no longer nonexpansive. On the other hand, sunny nonexpansive retractions do sometimes play a similar role in Banach spaces to that of nearest point projections in a Hilbert space. So an interesting problem arises: for which subsets of a Banach space does a sunny nonexpansive retraction exist?

If it does exist, how can one find it? It is known [6, Theorem 13.2] that ifCis a closed convex subset of a uniformly smooth Banach space andT:CCis nonexpansive, then the fixed point set ofT is a sunny nonexpansive retract ofC. More generally, Bruck [3, Theorem 2] proves that ifCis a closed convex subset of a reflexive Banach space every bounded, closed and convex subset of which has the fixed point property for nonexpan- sive mappings andT:CCis nonexpansive, then its fixed point set is a nonexpansive retract ofC. (It is still an open question whether all bounded, closed and convex subsets of reflexive Banach spaces have this fixed point property.) For a weak sufficient condi- tion on the underlying space which guarantees that nonexpansive retracts are, in fact, sunny nonexpansive retracts see [10, Theorem 4.1]. In the present paper we show that if Fis the nonempty common fixed point set of a commuting family of nonexpansive self- mappings of closed convex subsetsCof certain Banach spacesX, satisfying an asymptotic regularity condition, then it is possible to construct the sunny nonexpansive retractionQ ofContoFin an explicit iterative way. The origin of our work lies in a recent publication by Dom´ınguez Benavides, L ´opez Acedo and Xu [5] who attempted to construct sunny nonexpansive retractions using both implicit and explicit iterative schemes (cf. the dis- cussion in [1]). Our work improves, corrects and generalizes some of the results obtained in the above paper. It is also related to a result of Reich [11], where the case of a single mapping is dealt with. In this connection we would also like to refer the interested reader to the results obtained by Suzuki [14] who deals with an implicit scheme for construct- ing the sunny nonexpansive retraction onto the common fixed point set of some one- parameter semigroups of nonexpansive mappings. For related results in Hilbert space see Aleyner and Censor [1], Bauschke [2], Deutsch and Yamada [4], Halpern [7], Lions [8], and Wittmann [15].

2. Preliminaries and notations

Letl denote the real Banach space of all bounded sequencesa=(a1,a2,...) with the norm defined bya =supn|an|. A continuous linear functional LIM onlis called a Banach limit when LIM satisfies LIM(a)0 if an0, n=1, 2,..., LIM({an})= LIM({an+1}) andLIM =LIM(1)=1. To prove our theorem, we need the following two propositions [13, Propositions 1 and 2], which can be deduced from the arguments in the proof of [9, Theorem 1]. We sketch their proofs for the sake of completeness.

Proposition2.1. Letαbe a real number and leta=(a1,a2,...)l. ThenLIM(a)α for all Banach limits LIM if and only if for eachε >0, there existsn0Nsuch that

ak+ak+1+···+ak+n1

n < α+ε (2.1)

for allnn0andkN.

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Proof. First we prove the necessity of (2.1). Assume LIM(a)αfor all Banach limits LIM.

Define a sublinear functionalβfromlinto the real lineRby βb1,b2,...=lim sup

n→∞ sup

k∈N

1 n

k+n1 i=k

bi, (2.2)

where (b1,b2,...)l.By the Hahn-Banach theorem, there exists a linear functionalµ fromlintoRsuch thatµβandµ(a)=β(a). It is not difficult to see thatµis a Banach limit. Sinceµ(a)α, there exists, for eachε >0, a natural numbern0Nwhich satisfies (2.1). Next we prove that (2.1) is sufficient. Letµbe a Banach limit and letε >0. By the hypothesis, there existsn0such that (2.1) is satisfied. Hence we have

µ(a)=µak+ak+1+···+ak+n01

n0

α+ε. (2.3)

Sinceεis an arbitrary positive number, we see thatµ(a)α.

Proposition2.2. Letαbe a real number and leta=(a1,a2,...)lbe such that

LIM(a)α (2.4)

for all Banach limits LIM, and

lim sup

n→∞ (an+1an)0. (2.5)

Then

lim sup

n→∞ anα. (2.6)

Proof. Letε >0. ByProposition 2.1, there existsn2 such that ak+ak+1+···+ak+n1

n < α+ε

2 (2.7)

for allkN. Choosek0Nsuch thatak+1ak< ε/(n1) for allkk0. Letkk0+n.

Then we have

ak=aki+aki+1aki

+aki+2aki+1

+···+akak1

aki+

n1 (2.8) for eachi=0, 1, 2,...,n1. So we obtain

akak+ak1+···+akn+1

n +1

n·

n(n1)

2 ·

ε

n1α+ε. (2.9) Hence we have

lim sup

k→∞ akα+ε. (2.10)

Sinceεis an arbitrary positive number, the proposition is proved.

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3. Convergence theorem

LetXbe a Banach space,Ca nonempty, closed and convex subset ofX,Gan unbounded subset ofR+such that

t+hG t,hG,

thG t,hGwithth, (3.1)

andΓ= {Tt:tG}a family of nonexpansive self-mappings ofCsuch that the setF of the common fixed points ofΓis nonempty. We make the following assumptions.

Assumptions on the space. X is a reflexive Banach space with a uniformly Gˆateaux dif- ferentiable norm such that each nonempty, bounded, closed and convex subsetK ofX has the common fixed point property for nonexpansive mappings; that is, any family of commuting nonexpansive self-mappings ofK has a common fixed point. Note that all these assumptions are fulfilled wheneverXis uniformly smooth.

Assumptions on the mappings. Γ is a uniformly asymptotically regular semigroup on bounded subsets ofC, that is,

Ts+tx=TsTtx (3.2)

for allt,sG,xC, and for all bounded subsetsKofCthere holds

rlim→∞sup

K

TsTrxTrx=0, (3.3)

uniformly for allsG. Note that both these assumptions hold when the trajectories of the semigroupΓconverge uniformly on bounded subsets ofX.

Assumptions on the parameters. {λn}is a sequence of numbers in [0, 1) with the following properties:

λn−→0, (3.4)

n=0

1λn

=0; equivalently, n=0

λn= ∞, (3.5)

n=0

λn+1λn<. (3.6)

Observe that given points f F,u,x0C, and the bounded subsetD= {xC:x fmax(x0f,uf)}, there exists a sequence{rn} ⊆Gsuch that

r0< r1< r2<···< rn<···, nlim

→∞rn= ∞, (3.7)

n=0

supD

TsTrnxTrnx<, (3.8)

uniformly for allsG. We now define the sequence{xn}by

xn+1=λnu+1λnTrnxn, (3.9) wheren0; we say that{xn}has anchoruand initial pointx0.

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Theorem3.1. If the above assumptions on the space, mappings and parameters hold, then the sequence generated by (3.9) converges in norm toQu, whereQis the unique sunny non- expansive retraction fromContoF.

Proof. We first prove the result for the special casex0=uand then extend it to the general case. We divide our proof into a sequence of separate claims.

Claim 3.2. For alln0 and every f F,

xnfuf. (3.10)

We proceed by induction onn. Fix f F. Clearly, (3.10) holds forn=0. Ifxnf uf, then

xn+1fλnuf+1λnTrnxnf

λnuf+1λnxnf

uf,

(3.11)

as required.

Claim 3.3. The following strong convergence holds:

xn+1Trnxn−→0. (3.12)

This is true because (3.10) guarantees that{xn}is bounded, which, in turn, implies that {Trnxn}is also bounded. The boundedness of{Trnxn}together with (3.4) imply, in view of (3.9), our assertion.

Claim 3.4. The differences of consecutive iterates strongly converge to zero, namely,

xn+1xn−→0. (3.13)

Indeed, it follows from (3.10) thatxnDfor alln0. By the boundedness of{xn}and {Trnxn}there exists some constantL0 such thatxn+1xnLanduTrnxnL for alln0. Therefore, for alln1 we get

xn+1xn=λnλn1

uTrn1xn1

+1λn

TrnxnTrn1xn1

λnλn1uTrn1xn1+1λnTrnxnTrnxn1 +1λn

Trnxn1Trn1xn1

λnλn1uTrn1xn1+1λnxnxn1 +Trnxn1Trn1xn1

λnλn1L+1λnxnxn1 +Trnxn1Trn1xn1.

(3.14)

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SinceΓis a semigroup, we are able to rewrite the last term as follows:

Trnxn1Trn1xn1=Trnrn1Trn1xn1Trn1xn1. (3.15) Thus xn+1xnλnλn1L+1λnxnxn1

+Trnrn1Trn1xn1Trn1xn1 (3.16) for alln1. Hence, inductively,

xn+1xnLn

k=m

λkλk1+xmxm1 n

k=m

1λk

+ n k=m

Trkrk1Trk1xk1Trk1xk1,

(3.17)

for allnm1. Taking now the limit asntends to +, we obtain lim sup

n→∞

xn+1xn

L

k=m

λkλk1+L

k=m

1λk +

k=m

supD

Trkrk1Trk1xTrk1x

=L

k=m

λkλk1+ k=m

supD

Trkrk1Trk1xTrk1x

(3.18)

by (3.5). On the other hand, conditions (3.6) and (3.8) imply that

mlim→∞

k=m

λkλk1=0,

mlim→∞

k=m

supD

Trkrk1Trk1xTrk1x=0.

(3.19)

Altogether, by lettingmtend to, we conclude thatxn+1xn0, as claimed.

Claim 3.5. For each fixedsG,

Tsxnxn−→0. (3.20)

Indeed, letsG. Then

TsxnxnTsxnTsTrnxn+TsTrnxnTrnxn+Trnxnxn

2xnTrnxn+ sup

D

TsTrnxTrnx

2xnxn+1+xn+1Trnxn+ sup

D

TsTrnxTrnx.

(3.21)

Combining (3.12), (3.13), and (3.8), we see thatTsxnxn0, as asserted.

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Let LIM be a Banach limit and let {αs}sG be a net in the interval (0, 1) such that lims→∞αs=0. By Banach’s fixed point theorem, for eachsG, there exists a unique point zsCsatisfying the equationzs=αsu+ (1αs)Tszs. Since the following claim is essen- tially proved in [5], we include only a sketch of its proof.

Claim 3.6.

zs−→Qu, (3.22)

whereQ:CFis the unique sunny nonexpansive retraction fromContoF.

Indeed, let{sn}be a subsequence ofGsuch that limn→∞sn= ∞. Since{zsn}is bounded, we can define a functionalgonCby

g(x)=LIMzsnx2. (3.23)

We have for eachrG,

gTrx=LIMzsnTrx2=LIMTrTsnzsnTrx2

LIMTsnzsnx2

=LIMzsnx2,

(3.24)

by (3.3). In other words,

gTrxg(x) (3.25)

for allrGandxC. LetK= {xC:g(x)=minCg}. Sincegis convex and continu- ous, limx→∞g(x)= ∞andXis reflexive,Kis a nonempty, closed, bounded and convex subset ofC. From (3.25) we see thatK is invariant under eachTr; that is,Tr(K)K, rG. HenceK contains a common fixed point ofΓ. LetqKFbe such a common fixed point. Sinceqis a minimizer ofg overC, it follows that for eachxC,

0lim

λ0+

1 λ

gq+λ(xq)g(q)

=LIM

λlim0+

1 λ

zsnq+λ(qx)2zsnq2

=LIM2qx,Jzsnq.

(3.26)

Thus,

LIMxq,Jzsnq0 (3.27)

for allxC. On the other hand, for any f F, zsnf =

1αsn

Tsnzsnf+αsn(uf). (3.28)

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It follows that zsnf2=

1αsn

Tsnzsnf,Jzsnf+αsn

uf,Jzsnf

1αsnzsnf2+αsn

uf,Jzsnf. (3.29) Hence

zsnf2

uf,Jzsnf. (3.30)

Combining (3.27) and (3.30), we get

LIMzsnq20. (3.31)

Hence there is a subsequence{zrj}of{zsn}such that limj→∞zrjq =0. Assume that there exists another subsequence{zpk} of {zsn} such that limk→∞zpkq˜ =0, where q˜KF. Then (3.30) implies that

qq˜2uq,J˜ qq˜. (3.32) Similarly we have

q˜q2

uq,Jq˜q. (3.33)

Adding up (3.32) and (3.33) we obtainq=q. Therefore˜ {zs}converges in norm to a point inF. Now we defineQ:CFbyQu=lims→∞zs. ThenQis a retraction fromContoF.

Moreover, by (3.30) we get for all f F,

Quf2uf,J(Quf). (3.34) That is,

uQu,J(f Qu)0 (3.35)

for all f F. ThereforeQis the unique sunny nonexpansive retraction fromContoF (see (1.2)).

Claim 3.7.

lim sup

n→∞

uQu,JxnQu0. (3.36)

SinceTsis nonexpansive, (3.20) implies that LIMxnTszs2

=LIMTsxnTszs2

LIMxnzs2

. (3.37)

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Since (1αs)(xnTszs)=(xnzs)αs(xnu), we have 1αs2xnTszs2xnzs2sxnu,Jxnzs

=xnzs2s

xnzs+zsu,Jxnzs

=xnzs2s

xnzs,Jxnzs

s

zsu,Jxnzs

=

1sxnzs2+ 2αsuzs,Jxnzs.

(3.38) Therefore

1αs2

LIMxnzs2

1s

LIMxnzs2

+ 2αsLIMuzs,Jxnzs (3.39) for eachn0. These inequalities yield

αs

2 LIMxnzs2

LIMuzs,Jxnzs

. (3.40)

Since

uzs,Jxnzs

uQu,JxnQu

=

uzs(uQu),Jxnzs

+uQu,Jxnzs

JxnQu, (3.41) we obtain by lettingstend tothat

0LIMuQu,JxnQu (3.42)

becauseXhas a uniformly Gˆateaux differentiable norm and (3.22) holds. On the other hand, we have

nlim→∞uQu,Jxn+1Qu

uQu,JxnQu=0 (3.43) by (3.13). Hence we obtain byProposition 2.2,

lim sup

n→∞

uQu,JxnQu0, (3.44)

as claimed.

Now we can conclude the proof for the special casex0=u.

Claim 3.8.

xn−→Qu. (3.45)

Indeed, since

1λn

TrnxnQu=

xn+1Quλn(uQu), (3.46)

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we have

1λn

TrnxnQu2xn+1Qu2n

uQu,Jxn+1Qu. (3.47) Hence

xn+1Qu2

1λnxnQu2+ 21

1λn

uQu,Jxn+1Qu (3.48) for eachn0. Letε >0 be given. By (3.36), there existsm0 such that

uQu,JxnQu ε

2 (3.49)

for allnm. Therefore xn+mQu2

n+m1

k=m

1λk

xmQu2+

1

n+m1 k=m

1λk

ε (3.50) for alln1. Hence by (3.5) we get

lim sup

n→∞

xnQu2=lim sup

n→∞

xn+mQu2ε. (3.51)

Sinceεis an arbitrary positive real number, we conclude that{xn}converges strongly to Qu; that is, the special case is verified.

Finally, we extend the proof to the general case. Let{xn}be the sequence generated by (3.9) with an initial pointx0(possibly different fromu) and let{yn}be another sequence generated by (3.9) with an initial pointy0=u. On the one hand, by the special case,

yn−→Qu. (3.52)

On the other hand, it is easily checked that

xnynx0y0n1

k=0

1λk

(3.53) for alln1. Thus,xnyn0 and, altogether,xnQu.

Note added in proof. We are now able to proveTheorem 3.1under much weaker assump- tions on the mappings and the parameters. We expect the details to be part of a forthcom- ing paper.

Acknowledgments

The research of the second author was partially supported by the Israel Science Founda- tion founded by the Israel Academy of Sciences and Humanities (Grant 592/00), by the Fund for the Promotion of Research at the Technion, and by the Technion VPR Fund.

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References

[1] A. Aleyner and Y. Censor,Best approximation to common fixed points of a semigroup of nonex- pansive operators, J. Nonlinear Convex Anal.6(2005), no. 1, 137–151.

[2] H. H. Bauschke,The approximation of fixed points of compositions of nonexpansive mappings in Hilbert space, J. Math. Anal. Appl.202(1996), no. 1, 150–159.

[3] R. E. Bruck Jr.,Properties of fixed-point sets of nonexpansive mappings in Banach spaces, Trans.

Amer. Math. Soc.179(1973), 251–262.

[4] F. Deutsch and I. Yamada,Minimizing certain convex functions over the intersection of the fixed point sets of nonexpansive mappings, Numer. Funct. Anal. Optim.19(1998), no. 1-2, 33–56.

[5] T. Dom´ınguez Benavides, G. L ´opez Acedo, and H.-K. Xu,Construction of sunny nonexpansive retractions in Banach spaces, Bull. Austral. Math. Soc.66(2002), no. 1, 9–16.

[6] K. Goebel and S. Reich,Uniform Convexity, Hyperbolic Geometry, and Nonexpansive Mappings, Monographs and Textbooks in Pure and Applied Mathematics, vol. 83, Marcel Dekker, New York, 1984.

[7] B. Halpern,Fixed points of nonexpanding maps, Bull. Amer. Math. Soc.73(1967), 957–961.

[8] P.-L. Lions,Approximation de points fixes de contractions, C. R. Acad. Sci. Paris S´er. A-B284 (1977), no. 21, A1357–A1359 (French).

[9] G. G. Lorentz,A contribution to the theory of divergent sequences, Acta Math.80(1948), 167–

190.

[10] S. Reich,Product formulas, nonlinear semigroups, and accretive operators, J. Funct. Anal. 36 (1980), no. 2, 147–168.

[11] , Strong convergence theorems for resolvents of accretive operators in Banach spaces, J.

Math. Anal. Appl.75(1980), no. 1, 287–292.

[12] ,On the asymptotic behavior of nonlinear semigroups and the range of accretive operators, J. Math. Anal. Appl.79(1981), no. 1, 113–126.

[13] N. Shioji and W. Takahashi,Strong convergence of approximated sequences for nonexpansive mappings in Banach spaces, Proc. Amer. Math. Soc.125(1997), no. 12, 3641–3645.

[14] T. Suzuki,Browder’s type convergence theorems for one-parameter semigroups of nonexpansive mappings in Banach spaces, preprint, 2004.

[15] R. Wittmann,Approximation of fixed points of nonexpansive mappings, Arch. Math. (Basel)58 (1992), no. 5, 486–491.

Arkady Aleyner: Department of Mathematics, The Technion – Israel Institute of Technology, 32000 Haifa, Israel

E-mail address:[email protected]

Simeon Reich: Department of Mathematics, The Technion – Israel Institute of Technology, 32000 Haifa, Israel

E-mail address:[email protected]

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Special Issue on

Time-Dependent Billiards

Call for Papers

This subject has been extensively studied in the past years for one-, two-, and three-dimensional space. Additionally, such dynamical systems can exhibit a very important and still unexplained phenomenon, called as the Fermi acceleration phenomenon. Basically, the phenomenon of Fermi accelera- tion (FA) is a process in which a classical particle can acquire unbounded energy from collisions with a heavy moving wall.

This phenomenon was originally proposed by Enrico Fermi in 1949 as a possible explanation of the origin of the large energies of the cosmic particles. His original model was then modified and considered under different approaches and using many versions. Moreover, applications of FA have been of a large broad interest in many different fields of science including plasma physics, astrophysics, atomic physics, optics, and time-dependent billiard problems and they are useful for controlling chaos in Engineering and dynamical systems exhibiting chaos (both conservative and dissipative chaos).

We intend to publish in this special issue papers reporting research on time-dependent billiards. The topic includes both conservative and dissipative dynamics. Papers dis- cussing dynamical properties, statistical and mathematical results, stability investigation of the phase space structure, the phenomenon of Fermi acceleration, conditions for having suppression of Fermi acceleration, and computational and numerical methods for exploring these structures and applications are welcome.

To be acceptable for publication in the special issue of Mathematical Problems in Engineering, papers must make significant, original, and correct contributions to one or more of the topics above mentioned. Mathematical papers regarding the topics above are also welcome.

Authors should follow the Mathematical Problems in Engineering manuscript format described at http://www .hindawi.com/journals/mpe/. Prospective authors should submit an electronic copy of their complete manuscript through the journal Manuscript Tracking System athttp://

mts.hindawi.com/according to the following timetable:

Manuscript Due March 1, 2009 First Round of Reviews June 1, 2009 Publication Date September 1, 2009

Guest Editors

Edson Denis Leonel,Department of Statistics, Applied Mathematics and Computing, Institute of Geosciences and Exact Sciences, State University of São Paulo at Rio Claro, Avenida 24A, 1515 Bela Vista, 13506-700 Rio Claro, SP, Brazil; [email protected]

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[email protected]

Hindawi Publishing Corporation http://www.hindawi.com

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