Abstract
We introduce a new iterative scheme for finding a common element of the set of solutions of a general system of variational inequalities, the set of solutions of a mixed equilibrium problem, and the set of fixed points of a nonexpansive mapping in a real Hilbert space. Using the demiclosedness principle for nonexpansive mappings, we prove that the iterative sequence converges strongly to a common element of the above three sets under some control conditions, and we also give some examples for mappings which satisfy conditions of the main result.
1. Introduction
Let be a real Hilbert space with inner product and a nonempty closed convex subset of . A mapping is said to be nonexpansive mapping if for all . The fixed point set of is denoted by .
Halpern [1] studied the following iteration formula for approximating a fixed point of . For an arbitrary , let the sequence be defined by , where is a sequence of real numbers in that satisfies the following conditions: and .
Actually, Halpern studied the special case of (1.1) in which , , and and proved that converges strongly to a fixed point of . Under a different restriction on the parameter , Lions [2] improved the result of Halpern, still in Hilbert spaces. He proved strong convergence of to a fixed point of , where the real sequence satisfies the following conditions: Reich [3] proved that the result of Halpern remains true when is uniformly smooth. It was observed that both Halpern's and Lion's conditions on the real sequence excluded the canonical choice . This was overcome by Wittmann [4] who proved, still in Hilbert spaces, the strong convergence of to a fixed point of if satisfies the following conditions:
Recall that the classical variational inequality, denoted by , is to find an such that The variational inequality, nonconvex variational inequality, and mixed variational inequality have been widely studied in the literature; see, for example, Ceng et al. [5–14], Chang et al. [15], Noor [16–18], Peng and Yao [19–21], Plubtieng and Punpaeng [22], Yao et al. [23], Zeng and Yao [24], Zhao and He [25], and the references therein.
For solving the variational inequality problem in the finite-dimensional Euclidean space under the assumption that a set is closed and convex, a mapping of into is monotone and -Lipschitz continuous, and is nonempty, Korpelevich [26] introduced the following so-called extragradient method: for every , where and is the projection of onto . He showed that the sequences and generated by this iterative process converge to the same point . In 2007, Y. Yao and J. C. Yao [27] introduced a new iterative scheme for finding the common element of the set of fixed points of nonexpansive mapping and the set of solutions of the variational inequality for -inverse-strongly monotone mappings in a real Hilbert space.
Let C be a nonempty closed convex subset of a real Hilbert space .
Let be two mappings. In 2008, Ceng et al. [12] considered the following problem of finding such that which is called a general system of variational inequalities, where and are two constants. In particular, if , then the problem (1.6) reduces to finding such that which was defined by Verma [28] and is called the new system of variational inequalities. Further, if we add up the requirement that , then the problem (1.7) reduces to the classical variational inequality . Ceng et al. [12] introduced and studied a relaxed extragradient method for finding a common element of the set of solutions of the problem (1.6) for the - and -inverse-strongly monotone mappings and the set of fixed points of a nonexpansive mapping in a real Hilbert space. Let , and , are given by where , , and . Then, they proved that the sequence converges strongly to a common element of the set of fixed points of a nonexpansive mapping and the set of solutions of the problem (1.6) under some control conditions.
Let be a proper extended real-valued function and a bifunction from to , where is the set of real numbers. Ceng and Yao [13] considered the following mixed equilibrium problem:
The set of solutions of (1.9) is denoted by . It is easy to see that is a solution of the problem (1.9) impling that .
If , then the mixed equilibrium problem (1.9) becomes the following equilibrium problem: If , then the mixed equilibrium problem (1.9) reduces to the convex minimization problem
The set of solutions of (1.10) is denoted by .
If and for all , where is a mapping from into , then (1.9) reduces to the classical variational inequality and .
The equilibrium problems and variational inequality problems can be applied for the problems in science and technology, economics, optimizations, and control theory. The problems of finding a solution of the systems of variational inequalities which is also a solution of the mixed equilibrium problems and the problem of finding a solution of the mixed equilibrium problems under the constraints that it is also a solution of the system of variational inequalities are very useful and important for studying problems in science and applied science.
Inspired and motivated by these facts, we introduce a new iteration process for finding a common element of the set of solutions of a mixed equilibrium problem, the set of fixed points of a nonexpansive mapping, and the set of solutions of a general system of variational inequalities in a real Hilbert space. Start with an arbitrary , and let , , and be the sequences generated by where and are two constants, and . Using the demiclosedness principle for nonexpansive mappings, we will show that the sequence converges strongly to a common element of the above three sets under some control conditions.
2. Preliminaries
In this section, we recall the well-known results and give some useful lemmas that will be used in the next section.
Let be a real Hilbert space with inner product and a nonempty closed convex subset of .
A mapping is called monotone if is called -strongly monotone if there exists a positive real number such that This implies that that is, is -expansive and, when , it is expansive.
We can see easily that the following implications in monotonicity, strong monotonicity, and expansiveness hold:
The mapping is called -Lipschitz continuous (or Lipschitzian) if there exists a constant such that is called -inverse-strongly monotone (or -cocoercive) if there exists a positive real number such that It is obvious that every -inverse-strongly monotone mapping is monotone and Lipschitz continuous. Also, if is -strongly and -Lipschitz continuous, then is -inverse-strongly monotone, but inverse-strongly monotone need not be strongly monotone.
A mapping is called relaxed c-cocoercive, if there exists a constant such that A mapping is called relaxed (c,d)-cocoercive, if there exist two constants such that For , is -strongly monotone. This class of mappings is more general than the class of strongly monotone mappings. As a result, we have the following implication: -strong monotonicity relaxed -cocoercivity.
It is known that if the operator is Lipschitz continuous, then the relaxed cocoercivity is strongly monotone, but the strongly monotone does not imply the cocoercivity as shown in the following example.
Example 2.1. Let , , and be defined by , . For , we have Hence, is 2-strongly monotone. If is -cocoercive for some , then . This implies for all which is a contradiction. Hence, is not -cocoercive for any .
For every point , there exists a unique nearest point in , denoted by , such that is called the metric projection of onto . It is well known that is a nonexpansive mapping of onto and satisfies Obviously, this immediately implies that Recall that is characterized by the following properties: and for all and ; see Goebel and Kirk [29] for more details.
For solving the mixed equilibrium problem, let us assume the following assumptions for the bifunction and the set :(A1) for all ;(A2) is monotone, that is, for all ;(A3) for each , is weakly upper semicontinuous;(A4) for each , is convex;(A5) for each , is lower semicontinuous;(B1) for each and , there exist a bounded subset and such that for any (B2) is a bounded set.
In the sequel we will need to use the following lemma.
Lemma 2.2 (see [30]). Let be a nonempty closed convex subset of . Let be a bifunction from to satisfying (A1)–(A5), and let be a proper lower semicontinuous and convex function. Assume that either (B1) or (B2) holds. For and , define a mapping as follows for all . Then the following conclusions hold: (1)for each , ;(2) is single valued;(3) is firmly nonexpansive, that is, for any , (4);(5) is closed and convex.
We also need the following lemmas.
Lemma 2.3 (see [31]). Let be a sequence of nonnegative real numbers satisfying the property where , , and satisfy the restrictions Then .
Lemma 2.4 (see [32]). Let be an inner product space. Then, for all and with , one has
Lemma 2.5 (see [29] (demiclosedness principle)). Assume that is a nonexpansive self-mapping of a nonempty closed convex subset of a real Hilbert space . If has a fixed point, then is demiclosed: that is, whenever is a sequence in converging weakly to some (for short, ) and the sequence converges strongly to some (for short, , it follows that . Here is the identity operator of .
The following lemma is an immediate consequence of an inner product.
Lemma 2.6. In a real Hilbert space , there holds the inequality
In 2009, Kangtunyakarn and Suantai [33] introduced a new mapping called the -mapping as follows.
Let be a finite family of nonexpansive mappings of into itself. For each , and , let be such that with . Very recently, in 2009, Kangtunyakarn and Suantai [33] introduced the new mapping as follows: The mapping is called the -mapping generated by and . Nonexpansivity of each ensures the nonexpansivity of . They also showed the following useful fact.
Lemma 2.7 (see [33]). Let be a nonempty closed convex subset of a strictly convex Banach space . Let be a finite family of nonexpansive mappings of into itself with , and let , , where , , for all , and for all . Let be the -mapping generated by and . Then .
Lemma 2.8 (see [12]). For given , is a solution of the problem (1.6) if and only if is a fixed point of the mapping defined by where .
Throughout this paper, the set of fixed points of the mapping is denoted by .
Next, we prove a lemma which is very useful for our consideration.
Lemma 2.9. Let be defined by where and are two mappings. If and are nonexpansive mappings, then is nonexpansive.
Proof. For any , we have This shows that is a nonexpansive mapping.
3. Main Results
In this section, we prove strong convergence theorems of the iterative scheme (1.12) to a common element of the set of solutions of a mixed equilibrium problem, the set of fixed points of a nonexpansive mapping, and the set of solutions of a general system of variational inequality in a real Hilbert space.
Theorem 3.1. Let be a nonempty closed and convex subset of a real Hilbert space . Let be a function from to satisfying (A1)–(A5) and a proper lower semicontinuous and convex function. Let , and let be such that and are nonexpansive mappings. Let be a nonexpansive self-mapping of such that . Assume that either (B1) or (B2) holds and that is an arbitrary point in . Let the sequences , , and be defined by (1.12), and such that (C1), , and , (C2) and .If and for all and , then converges strongly to and is a solution of the problem (1.6), where .
Proof. Let and a sequence of mappings defined as in Lemma 2.2. It follows from Lemma 2.8 that
Put and , then and
Since , , , and are nonexpansive mappings, we have
which implies that
Thus, is bounded. Consequently, the sequences , , , , , and are also bounded. Also, observe that
On the other hand, from and , we have
Putting in (3.6) and in (3.7), we have
From the monotonicity of , we obtain that
and hence
Without loss of generality, let us assume that there exists a real number such that for all . Then, we have
and hence
It follows from (3.5) and (3.12) that
Next, we show that as . From (3.13), we have
where . By the assumptions on and and Lemma 2.3, we conclude that
From (C1), (C2), (3.5), (3.12), and (3.15), we also have , , and , as .
Since
we have that
Next, we prove that . From Lemma 2.2(3), we have
Hence,
From Lemma 2.4, (3.3), and (3.19), we have
It follows that
From conditions (C1) and (3.15), we obtain
By (3.17) and (3.22), we have
Next, we prove that as . From (2.11) and nonexpansiveness of , we get
By (3.3), we obtain
Hence,
which implies that
By this together with (C1), (3.15), and , we obtain
From Lemma 2.6 and (2.12), it follows that
By this together with (3.23), (3.28), and , we obtain as . This together with (3.17), (3.22), and (3.28), we obtain that
Next, we show that
where .
Indeed, since and are two bounded sequences in , we can choose a subsequence of such that and
Since , we obtain that as .
Next, we show that .
(a) We first show .
Since and , we obtain by Lemma 2.5 that .
(b) Now, we show that .
From (3.30) and (3.17), we have
Furthermore, by Lemma 2.9, we have that is nonexpansive. Then, we have
Again by Lemma 2.5, we have .
(c) We show that . Since and , we obtain that . From , we also obtain that . By using the same argument as that in the proof of [30, Theorem 3.1, page 1825], we can show that . Therefore, there holds .
On the other hand, it follows from (2.13), (3.17), and as that
Hence, we have
which implies that
By this together with (C1) and (3.35), we have by Lemma 2.3 that converges strongly to . This completes the proof.
The following examples provide mappings and which satisfy those conditions in Theorem 3.1.
Example 3.2. Let be -inverse-strongly monotone and -inverse-strongly monotone, respectively. If and , then we have(1) and are nonexpansive,(2) and as for all and , where and are sequences defined as in Theorem 3.1.
Proof. (1) For any , we have
hence, is nonexpansive. Similarly, we can show that is nonexpansive.
(2) Let , , and be the sequences defined as in Theorem 3.1. From (3.3), we have
Therefore, we have
From (3.15) and (C1), we obtain
Example 3.3. Let be an -Lipschitzian and relaxed -cocoercive mapping and an -Lipschitzian and relaxed -cocoercive mapping. If and , then we have(1) and are nonexpansive,(2) and as for all and , where and are sequences defined as in Theorem 3.1.
Proof. (1) For any , we have
hence, is nonexpansive. Similarly, we can show that is nonexpansive.
(2) Let , , and be the sequences defined as in Theorem 3.1. From (3.3), we have
Therefore, we have
From (3.15) and (C1), we obtain
By using the same proof as in Examples 3.2 and 3.3, we can obtain the following example.
Example 3.4. Let be an -inverse-strongly monotone mapping of into and be a L-Lipschitzian and relaxed -cocoercive mapping of into . If and , then we have(1) and are nonexpansive,(2) and as for all and , where and are sequences defined as in Theorem 3.1.
Let be the class of all -inverse-strongly monotone mappings from into , the class of all -inverse-strongly monotone mappings from into , the class of all -Lipschitzian and relaxed -cocoercive mappings from into , and the class of all -Lipschitzian and relaxed -cocoercive mappings from into .
Theorem 3.5. Let be a nonempty closed and convex subset of a real Hilbert space . Let be a function from to satisfying (A1)–(A5) and a proper lower semicontinuous and convex function. Let be a finite family of nonexpansive self-mappings of such that . Let , , where , , for all , and for all . Let be the -mapping generated by and . Assume that either (B1) or (B2) holds and that is an arbitrary point in . Let and the sequences generated by If one of the following conditions is satisfied: (1), , , and ,(2), , , and ,(3), , , and ,and the sequences and are as in Theorem 3.1, then converges strongly to and is a solution of the problem (1.6), where .
Proof. By Lemma 2.7, we obtain that is nonexpansive and . Hence, the result is obtained directly from Theorem 3.1 and Examples 3.2–3.4.
From Theorem 3.1 and Examples 3.2–3.4, we obtain the following result.
Corollary 3.6. Let be a nonempty closed and convex subset of a real Hilbert space . Let be a function from to satisfying (A1)–(A5) and a proper lower semicontinuous and convex function. Let be a nonexpansive self-mapping of such that . Assume that either (B1) or (B2) holds and that is an arbitrary point in . If one of the following conditions is satisfied: (1), , , and ,(2), , , and ,(3), , , and ,and the sequences , are as in Theorem 3.1, then the sequence generated by (1.12) converges strongly to and is a solution of the problem (1.6), where .
Let in Theorem 3.1. From Theorem 3.1 and Examples 3.2–3.4, we obtain the following result.
Corollary 3.7. Let be a nonempty closed and convex subset of a real Hilbert space . Let be a function from to satisfying (A1)–(A5). Let be a nonexpansive self-mapping of such that . Let and be the sequences generated by If one of the following conditions is satisfied: (1), , , and ,(2), , , and ,(3), , , and ,and the sequences , are as in Theorem 3.1, then converges strongly to and is a solution of the problem (1.6), where .
Remark 3.8. In Theorem 3.5, if , then the sequence generated by (3.46) converges strongly to a solution of the minimization problem which is also a solution of a system of variational inequalities.
Acknowledgments
The authors would like to thank the referees for valuable suggestions on the paper and thank the National Research University Project under Thailand’s Office of the Higher Education Commission, the Centre of Excellence in Mathematics, the Thailand Research Fund and the Thaksin university for financial support.