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R E S E A R C H

Open Access

Convergence theorems of solutions of a

generalized variational inequality

Li Yu

1*

and Ma Liang

2

* Correspondence: [email protected]

1School of Business Administration, Henan University, Kaifeng 475000, Henan Province, China Full list of author information is available at the end of the article

Abstract

The convex feasibility problem (CFP) of finding a point in the nonempty intersection r

m=1Cmis considered, wherer≥1 is an integer and eachCmis assumed to be the

solution set of a generalized variational inequality. LetCbe a nonempty closed and convex subset of a real Hilbert spaceH. LetAm,Bm: C®Hbe relaxed cocoercive

mappings for each 1≤m≤r. It is proved that the sequence {xn} generated in the

following algorithm:

x1∈C, xn+1=αnu+βnxn+γn r

m=1

δ(m,n)PC(τmBmxnλmAmxn), n≥1,

whereuÎCis a fixed point, {an}, {bn}, {gn}, {δ(1,n)}, ..., and {δ(r,n)} are sequences in (0, 1) and{τm}rm=1,{λm}rm=1are positive sequences, converges strongly to a solution of CFP

provided that the control sequences satisfies certain restrictions. 2000 AMS Subject Classification: 47H05; 47H09; 47H10.

Keywords:nonexpansive mapping, fixed point, relaxed cocoercive mapping, varia-tional inequality

1. Introduction and Preliminaries

Many problems in mathematics, in physical sciences and in real-world applications of various technological innovations can be modeled as a convex feasibility problem (CFP). This is the problem of finding a point in the intersection of finitely many closed convex sets in a real Hilbert spacesH. That is,

finding anxr

m=1

Cm, (1:1)

wherer≥1 is an integer and eachCmis a nonempty closed and convex subset ofH. There is a considerable investigation on CFP in the setting of Hilbert spaces which captures applications in various disciplines such as image restoration [1,2], computer tomography [3] and radiation therapy treatment planning [4].

Throughout this paper, we always assume thatHis a real Hilbert space, whose inner product and norm are denoted by〈·, ·〉and ||·||. LetCbe a nonempty closed and con-vex subset ofHandA:C® Ha nonlinear mapping. Recall the following definitions:

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(a)Ais said to be monotone if

AxAy,xy ≥0, ∀x,yC.

(b)Ais said to ber-strongly monotone if there exists a positive real numberr>0 such that

AxAy,xyρ||xy||2, ∀x,yC.

(c)Ais said to beh-cocoercive if there exists a positive real numberh>0 such that

AxAy,xyη||AxAy||2, ∀x,yC.

(d)Ais said to be relaxed h-cocoercive if there exists a positive real numberh>0 such that

AxAy,xy ≥(−η)||AxAy||2, ∀x,yC.

(e)Ais said to be relaxed (h,r)-cocoercive if there exist positive real numbersh, r

>0 such that

AxAy,xy ≥(−η)||AxAy||2+ρ||xy||2, ∀x,yC.

The main purpose of this paper is to consider the following generalized variational inequality. Given nonlinear mappings A:C ®H andB: C® H, find au ÎC such that

uτBu+λAu,vu ≥0, ∀vC, (1:2)

where land τ are two positive constants. In this paper, we use GV I(C, B, A) to denote the set of solutions of the generalized variational inequality (1.2).

It is easy to see that an element uÎCis a solution to the variational inequality (1.2) if and only ifuÎ Cis a fixed point of the mappingPC(τB- lA), wherePCdenotes the metric projection fromHontoC. Indeed, we have the following relations:

u=PC(τBλA)uuτBu+λAu,vu ≥0, ∀vC. (1:3)

Next, we consider a special case of (1.2). If B=I, the identity mapping and τ = 1, then the generalized variational inequality (1.1) is reduced to the following. FinduÎ C

such that

Au,vu ≥0, ∀vC. (1:4)

The variational inequality (1.4) emerging as a fascinating and interesting branch of mathematical and engineering sciences with a wide range of applications in industry, finance, economics, social, ecology, regional, pure and applied sciences was introduced by Stam-pacchia [5]. In this paper, we useV I(C, A) to denote the set of solutions of the variational inequality (1.4).

Let S :C ®C be a mapping. We useF(S) to denote the set of fixed points of the mapping S. Recall thatSis said to be nonexpansive if

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It is well known that if Cis nonempty bounded closed and convex subset ofH, then the fixed point set of the nonexpansive mappingS is nonempty, see [6] more details. Recently, fixed point problems of nonexpansive mappings have been considered by many authors; see, for example, [7-16].

Recall thatSis said to be demi-closed at the origin if for each sequence {xn} inC,xn⇀

x0andSxn®0 implySx0= 0, where⇀and®stand for weak convergence and strong convergence.

Recently, many authors considered the variational inequality (1.4) based on iterative methods; see [17-32]. For finding solutions to a variational inequality for a cocoercive mapping, Iiduka et al. [22] proved the following theorem.

Theorem ITT.Let C be a nonempty closed convex subset of a real Hilbert space H and let A be an a-cocoercive operator of H into H with V I(C, A)≠∅. Let{xn}be a

sequence defined as follows.x1=xÎ C and

xn+1=PC(αnxn+ (1−αn)PC(xnλnAxn))

for every n = 1, 2, ..., where C is the metric projection from H onto C, {an} is a

sequence in[-1, 1],and{ln}is a sequence in[0, 2a].If{an}and{ln}are chosen so that {an}Î [a, b]for some a,b with-1< a < b <1and{ln}Î[c, d]for some c,d with0 <

c < d <2(1 +a)a, then{xn}converges weakly to some element of V I(C,A).

Subsequently, Iiduka and Takahashi [23] further studied the problem of finding solu-tions of the classical variational inequality (1.4) for cocoercive mappings (inverse-strongly monotone mappings) and nonexpansive mappings. They obtained a strong convergence theorem. More precisely, they proved the following theorem.

Theorem IT.Let C be a closed convex subset of a real Hilbert space H. Let S:C®

C be a nonexpanisve mapping and A an a-cocoercive mapping of C into H such that F

(S)∩V I(C,A)≠∅.Suppose x1=uÎC and{xn}is given by

xn+1=αnu+ (1−αn)SPC(xnλnAxn)

for every n = 1, 2, ...,where{an}is a sequence in [0, 1)and{ln}is a sequence in[a,

b].

If{an}and{ln}are chosen so that{ln}Î[a,b]for some a,b with0< a < b <2a,

lim

n→∞αn= 0, ∞

n=1

αn=∞, ∞

n=1

|αn+1−αn| <and

n=1

|λn+1−λn| <∞,

then{xn}converges strongly to PF(S)∩V I(C,A)x.

In this paper, motivated by research work going on in this direction, we study the CFP in the case that each Cm is a solution set of generalized variational inequality (1.2). Strong convergence theorems of solutions are established in the framework of real Hilbert spaces.

In order to prove our main results, we need the following lemmas.

Lemma 1.1 [33]. Let{xn}and {yn} be bounded sequences in a Hilbert space H and {bn}a sequence in(0, 1)with

0<lim inf

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Suppose that xn+1= (1 -bn)yn+bnxnfor all integers n≥0and

lim sup

n→∞ (||yn+1−yn|| − ||xn+1−xn||)≤0.

Thenlimn®∞||yn-xn|| = 0.

Lemma 1.2 [34]. Let C be a nonempty closed and convex subset of a real Hilbert

space H. Let S1 : C ® C and S2 : C® C be nonexpansive mappings on C. Suppose

that F(S1)∩F(S2)is nonempty. Define a mapping S:C® C by

Sx=aS1x+ (1−a)S2x,xC,

where a is a constant in(0, 1).Then S is nonexpansive with F(S) =F(S1)∩F(S2).

Lemma 1.3 [35]. Let C be a nonempty closed and convex subset of a real Hilbert

space H and S:C®C a nonexpansive mapping. Then I- S is demi-closed at zero.

Lemma 1.4 [36]. Assume that{an}is a sequence of nonnegative real numbers such that

αn+1≤(1−γn)αn+δn,

where {gn}is a sequence in(0, 1)and{δn}is a sequence such that (a)∞n=1γn=∞;

(b) lim supn®∞δn/gn≤0 or

n=1|δn|<∞.

Thenlimn®∞an= 0.

2. Main results

Theorem 2.1.Let C be a nonempty closed and convex subset of a real Hilbert space H. Let Am:C® H be a relaxed(hm,rm)-cocoercive andμm-Lipschitz continuous mapping

and Bm: C® H a relaxed(ηm,ρm)-cocoercive and μm-Lipschitz continuous mapping for each1≤m≤r. Assume thatrm=1GVI(C,Bm,Am)=∅.Let{xn}be a sequence

gener-ated in the following manner:

x1∈C, xn+1=αnu+βnxn+γn r

m=1

δ(m,n)PC(τmBmxnλmAmxn), n≥1, (ϒ)

where u ÎC is a fixed point, {an}, {bn}, {gn}, {δ(1,n)}, ...,and{δ(r,n)}are sequences in(0, 1)satisfying the following restrictions:

(a)αn+βn+γn=

r

m=1δ(m,n)= 1,∀n≥1; (b) 0<lim infn®∞bn≤lim supn®∞bn<1; (c) limn®∞an= 0and∞n=1αn=∞; (d) limn®∞δ(m,n)=δmÎ(0, 1),∀1≤m≤r,

And{τm}rm=1,{λm}rm=1are two positive sequences such that

(e)1−2λmρm+λm2μ2m+ 2λmηmμ2m+

1−2λmρm+λ22m+ 2λmηmμ2m≤1, ∀1≤mr.

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common element x¯∈rm=1GVI(C,Bm,Am),which uniquely solves the following varia-tional inequality.

u− ¯x,x¯−x∗ ≥0, ∀x∗∈r

m=1GVI(C,Bm,Am).

Proof. First, we prove that the mappingPC(τmBm-lmAm) is nonexpansive for each 1

≤m≤r. For eachx,yÎ C, we have

||PC(τmBmλmAm)xPC(τmBmλmAm)y||

≤ ||(τmBmλmAm)x−(τmBmλmAm)y||

≤ ||(x−y)λm(AmxAmy)||+||(x−y)τm(BmxBmy)||.

(2:1)

It follows from the assumption that each Amis relaxed (hm,rm)-cocoercive andμm -Lipschitz continuous that

||xyλm(AmxAmy)||2

= ||xy||2−2λmAmxAmy,xy+λ2m||AmxAmy||2

≤ ||xy||2−2λm[(ηm)||AmxAmy||2+ρm||xy||2] +λm2μ2m||xy||2 = (1−2λmρm+λ22m)||xy||2+ 2λmηm||AmxAmy||2

= (1−2λmρm+λ22m)||xy||2+ 2λmηmμ2m||AmxAmy||2

=ξm2||xy||2,

whereξm=

1−2λmρm+λ22m+ 2λmηmμ2m. This shows that

||xyλm(AmxAmy)|| ≤ξm||xy||. (2:2)

In a similar way, we can obtain that

||xyτm(BmxBmy)|| ≤ζm||xy||, (2:3)

whereζm=

1−2λmρm+λ22m+ 2λmηmμ2m. Substituting (2.2) and (2.3) into (2.1),

we from the condition (e) see that PC(τmBm- lmAm) is nonexpansive for each 1≤m≤

r. Put

yn= r

m=1

δ(m,n)PC(τmBmxnλmAmxn), ∀n≥1.

Fixing prm=1GVI(C,Bm,Am), we see that

||ynp|| ≤ ||xnp||.

It follows that

||xn+1−p||=||αnu+βnxn+γnynp||

αn||up||+βn||xnp||+γn||ynp||

αn||up||+βn||xnp||+γn||xnp|| =αn||up||+ (1−αn)||xnp||.

By mathematical inductions we arrive at

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Since the mappingPC(τmBm-lmAm) is nonexpansive for each 1≤m≤r, we see that ||yn+1−yn||

=|| r

m=1

δ(m,(n+1))PC(τmBmxn+1−λmAmxn+1)− r

m=1

δ(m,n)PC(τmBmxnλmAmxn)||

≤ ||xn+1−xn||+M r

m=1

|δ(m,(n+1))−δ(m,n)|,

(2:4)

whereMis an appropriate constant such that

M= max{sup n≥1||

PC(τmBmxnλmAmxn)||,∀1≤mr}.

Putln= xn+1−βnxn

1−βn , for alln≥1. That is,

xn+1= (1−βn)ln+βnxn, ∀n≥1. (2:5)

Now, we estimate ||ln+1- ln||. Note that

ln+1−ln= αn+1

u+γn+1yn+1

1−βn+1 −

αnu+γnyn 1−βn

= αn+1 1−βn+1

(u−yn+1) + αn 1−βn

(yn−u) +yn+1−yn,

which combines with (2.4) yields that

||ln+1−ln|| − ||xn+1−xn||

αn+1 1−βn+1||

uyn+1||+ α n 1−βn||

ynu||+M r

m=1

|δ(m,(n+1))−δ(m,n)|.

It follows from the conditions (b), (c) and (d) that

lim sup n→∞

(||ln+1−ln|| − ||xn+1−xn+1||)≤0.

It follows from Lemma 1.1 that limn®∞||ln-xn|| = 0. In view of (2.5), we see thatxn +1xn= (1 -bn)(ln-xn). It follows that

lim

n→∞||xn+1−xn||= 0. (2:6)

On the other hand, from the iterative algorithm (ϒ), we see thatxn+1 -xn=an(u

-xn) + gn(yn- xn). It follows from (2.6) and the conditions (b), (c) that

lim

n→∞||ynxn||= 0. (2:7)

Next, we show thatlim supn→∞u− ¯x,xn− ¯x ≤0. To show it, we can choose a sub-sequence{xni}of {xn} such that

lim sup n→∞

u− ¯x,xn− ¯x= lim

i→∞u− ¯x,xni− ¯x. (2:8)

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Rx= r

m=1

δmPC(τmBmλmAm)x,xC,

whereδm= limn®∞δ(m,n). From Lemma 1.2, we see thatRis nonexpansive with

F(R) = r

m=1

F(PC(τmBmλmAm)) = r

m=1

GVI(C,Bm,Am).

Now, we show thatRxn-xn®0 asn®∞. Note that

||Rxnxn||

=|| r

m=1

δmPC(τmBmλmAm)xnr

m=1

δ(m,n)PC(τmBmxnλmAmxn)||+||ynxn||

M r

m=1

|δ(m,n)−δm|+||ynxn||.

From the condition (d) and (2.7), we obtain that limn®∞ ||Rxn - xn|| = 0. From Lemma 1.3, we see that

qF(R) = r

m=1

F(PC(τmBmλmAm)) = r

m=1

GVI(C,Bm,Am).

In view of (2.8), we arrive at

lim sup n→∞

u− ¯x,xn− ¯x=u− ¯x,q− ¯x ≤0. (2:9)

Finally, we show that xn→ ¯xasn-∞. Note that

||xn+1− ¯x||2

=αnu+βnxn+γnyn− ¯x,xn+1− ¯x

=αnu− ¯x,xn+1− ¯x+βnxn− ¯x,xn+1− ¯x+γnyn− ¯x,xn+1− ¯x

αnu− ¯x,xn+1− ¯x+βn||xn− ¯x||||xn+1− ¯x||+γn||yn− ¯x|| ||xn+1− ¯x||

αnu− ¯x,xn+1− ¯x+ (1−αn)||xn− ¯x|| ||xn+1− ¯x||

≤ 1−αn

2 (||xn− ¯x|| 2+||xn

+1− ¯x||2) +αnu− ¯x,xn+1− ¯x,

which implies that

||xn+1− ¯x||2≤(1−αn)||xn− ¯x||2+ 2αnu− ¯x,xn+1− ¯x. (2:10)

From the condition (c), (2.9) and applying Lemma 1.4 to (2.10), we obtain that

lim

n→∞||xn− ¯x||= 0.

This completes the proof.

If Bm≡I, the identity mapping andτm≡1, then Theorem 2.1 is reduced to the fol-lowing result on the classical variational inequality (1.4).

Corollary 2.2. Let C be a nonempty closed and convex subset of a real Hilbert space H. Let Am:C®H be a relaxed(hm,rm)-cocoercive andμm-Lipschitz continuous

map-ping for each1≤m≤r. Assume thatrm=1VI(C,Am)=∅.Let{xn}be a sequence

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x1∈C, xn+1=αnu+βnxn+γn r

m=1

δ(m,n)PC(xnλmAmxn), n≥1,

where u ÎC is a fixed point, {an}, {bn}, {gn}, {δ(1,n)}, ...,and{δ(r,n)}are sequences in(0, 1)satisfying the following restrictions.

(a)αn+βn+γn=mr=1δ(m,n)= 1,∀n≥1; (b) 0<lim infn®∞bn≤lim supn®∞bn< 1; (c) limn®∞an= 0and∞n=1α=∞;

(d) limn®∞ δ(m,n)=δmÎ(0, 1),∀1 ≤m≤r,and{λm}rm=1is a positive sequence such that

(e)λm≤ 2ρm−2ηmμ

2

m

μ2

m ,∀1≤m≤r.

Then the sequence {xn}converges strongly to a common elementx¯∈ r

m=1VI(C,Am), which uniquely solves the following variational inequality

u− ¯x,x¯−x∗ ≥0, ∀x∗∈r

m=1VI(C,Am).

Ifr = 1, then Theorem 2.1 is reduced to the following.

Corollary 2.3. Let C be a nonempty closed and convex subset of a real Hilbert space H. Let A :C® H be a relaxed(h, r)-cocoercive andμ-Lipschitz continuous mapping

and B : C ® H a relaxed(η,ρ)-cocoercive and μ-Lipschitz continuous mapping.

Assume that GV I(C, B, A)is not empty. Let{xn}be a sequence generated in the

follow-ing manner:

x1∈C, xn+1=αnu+βnxn+γnPC(τBxnλAxn), n≥1,

where u ÎC is a fixed point, {an}, {bn}and{gn}are sequences in(0, 1)satisfying the following restrictions.

(a)an+bn+gn= 1,∀n≥1;

(b) 0<lim infn®∞bn≤lim supn®∞bn<1; (c) limn®∞an= 0and∞n=1αn=∞

(d)1−2λρ+λ2μ2+ 2λημ2+12λρ+λ2μ2+ 2λημ21.

Then the sequence {xn} converges strongly to a common element x¯∈GVI(C,B,A),

which uniquely solves the following variational inequality

u− ¯x,x¯−x∗ ≥0, ∀x∗∈GVI(C,B,A).

For the variational inequality (1.4), we can obtain from Corollary 2.3 the following immediately.

Corollary 2.4. Let C be a nonempty closed and convex subset of a real Hilbert space H. Let A: C®H be a relaxed(h,r)-cocoercive andμ-Lipschitz continuous mapping. Assume that V I(C,A)is not empty. Let {xn}be a sequence generated in the following

manner:

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where u ÎC is a fixed point, {an}, {bn}and{gn}are sequences in(0, 1)satisfying the

following restrictions.

(a)an+bn+gn= 1,∀n≥1;

(b) 0<lim infn®∞bn≤lim supn®∞bn< 1; (c) limn®∞an= 0and

n=1αn=∞; (d)λ≤ 2ρμ22ημ2.

Then the sequence {xn}converges strongly to a common element x¯∈VI(C,A), which

uniquely solves the following variational inequality

u− ¯x,x¯−x∗ ≥0, ∀x∗∈VI(C,A).

Remark 2.5. In this paper, the generalized variational inequality (1.2), which includes the classical variational inequality (1.4) as a special case, is considered based on itera-tive methods. Strong convergence theorems are established under mild restrictions imposed on the parameters. It is of interest to extend the main results presented in this paper to the framework of Banach spaces.

Abbreviation

CFP: convex feasibility problem.

Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grant no. 70871081 and Important Science and Technology Research Project of Henan province, China (102102210022).

Author details 1

School of Business Administration, Henan University, Kaifeng 475000, Henan Province, China2School of Management, University of Shanghai for Science and Technology, Shanghai 200093, China

Authors’contributions

LYdesigned and performed all the steps of proof in this research and also wrote the paper.MLparticipated in the design of the study. All authors read and approved the final manuscript.

Competing interests

The authors declare that they have no competing interests.

Received: 14 November 2010 Accepted: 25 July 2011 Published: 25 July 2011

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doi:10.1186/1687-1812-2011-19

Cite this article as:Yu and Liang:Convergence theorems of solutions of a generalized variational inequality. Fixed Point Theory and Applications20112011:19.

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