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R E S E A R C H Open Access

Linesearch algorithms for split equilibrium problems and nonexpansive mappings

Bui Van Dinh1,2, Dang Xuan Son3, Liguo Jiao2and Do Sang Kim2*

*Correspondence:

[email protected]

2Department of Applied Mathematics, Pukyong National University, Busan, Korea Full list of author information is available at the end of the article

Abstract

In this paper, we first propose a weak convergence algorithm, called the linesearch algorithm, for solving a split equilibrium problem and nonexpansive mapping (SEPNM) in real Hilbert spaces, in which the first bifunction is pseudomonotone with respect to its solution set, the second bifunction is monotone, and fixed point mappings are nonexpansive. In this algorithm, we combine the extragradient method incorporated with the Armijo linesearch rule for solving equilibrium problems and the Mann method for finding a fixed point of an nonexpansive mapping. We then combine the proposed algorithm with hybrid cutting technique to get a strong convergence algorithm for SEPNM. Special cases of these algorithms are also given.

MSC: 47H09; 47J25; 65K10; 65K15; 90C99

Keywords: split equilibrium problem; common fixed point problem; nonexpansive mapping; pseudomonotonicity; projection method; linesearch rule; weak and strong convergence

1 Introduction

Throughout the paper, unless otherwise is stated, we assume thatH andH are real Hilbert spaces endowed with inner products and induced norms denoted by·,· and · , respectively, whereasHrefers to any of these spaces. We writexkxorxkx iffxkconverges strongly or weakly tox, respectively, ask→ ∞. LetC,Qbe nonempty closed convex subsets inH,H, respectively, andA:H→Hbe a bounded linear op- erator. The split feasible problem (SFP) in the sense of Censor and Elfving [] is to find xCsuch thatAxQ. It turns out that SFP provides a unified framework for the study of many significant real-world problems such as in signal processing, medical image re- construction, intensity-modulated radiation therapy,et cetera; see, for example, [–]. To find a solution of SFP in finite-dimensional Hilbert spaces, a basic scheme proposed by Byrne [], called the CQ-algorithm, is defined as follows:

xk+=PC

xk+γAT(PQI)Axk ,

whereIis the identity mapping, andPCis projection mapping ontoC. Xu [] investigated the SFP setting in infinite-dimensional Hilbert spaces. In this case, the CQ-algorithm be-

©2016 Dinh et al. This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, pro- vided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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comes xk+=PC

xk+γA(PQI)Axk , whereAis the adjoint operator ofA.

The split feasibility problem when C orQare fixed points of mappings or common fixed points of mappings and solutions of variational inequality problems was considered in some recent research papers; see, for instance, [–]. Recently, Moudafi [] (see also [–]) considered the split equilibrium problems (SEP), more precisely:

Letf :C×C→R,g:Q×Q→Rbe equilibrium bifunctions, that is,f(x,x) =g(u,u) =  for allxCanduQ. The split equilibrium problem takes the form

FindxCsuch thatx∈Sol(C,f) andAx∈Sol(Q,g),

whereSol(C,f) is the solution set of the following equilibrium problem (EP(C,f)):

Findx¯∈Csuch thatf(xy)≥,∀yC,

andSol(Q,g) is the solution set of the equilibrium problemEP(Q,g). See [, ] for more detail on equilibrium problems.

For obtaining a solution of SEP, He [] introduced an iterative method, which generates a sequence{xk}by

⎧⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎪

⎪⎩

xC,{rk} ⊂(, +∞), μ> , f(yk,y) +r

kyyk,ykxk ≥, ∀yC,

g(uk,v) +r

kvuk,ukAyk ≥, ∀vQ,

xk+=PC(yk+μA(ukAyk)), ∀k≥.

Under certain conditions on bifunctions and parameters, the author shows that{xk}, {yk}weakly converges to a solution of SEP, provided thatf andgare monotone onCand Q, respectively.

On the other hand, many researchers have been proposed numerical algorithms for find- ing a common element of the set of solutions of monotone equilibrium problems and the set of fixed points of nonexpansive mappings; see, for example, [–] and the references therein.

This paper focuses mainly on a split equilibrium problem and nonexpansive mapping involving pseudomonotone and monotone equilibrium bifunctions in real Hilbert spaces.

In detail, letf :C×C→Rbe a pseudomonotone bifunction with respect to its solu- tion set,g:Q×Q→Rbe a monotone bifunction, andS:CCandT :QQbe nonexpansive mappings. The problem considered in this paper can be stated as follows (SEPNM(C,Q,A,f,g,S,T) or SEPNM for short):

FindxCsuch thatx∈Sol(C,f)∩Fix(S) andAx∈Sol(Q,g)∩Fix(T), whereFix(S) andFix(T) are the fixed points of the mappingsSandT, respectively.

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It should be noticed that, under the monotonicity assumption on f andg, the solu- tion sets Sol(C,f) andSol(C,g) of the equilibrium problemsEP(C,f) and EP(Q,g) are closed convex sets whenever f and g are lower semicontinuous and convex with re- spect to the second variables. In addition, the nonexpansiveness assumption ofSandT also implies thatFix(S) andFix(T) are closed convex sets. Hence,Sol(C,f)∩Fix(S) and Sol(Q,g)∩Fix(T) are closed convex sets. However, the main difficulty is that, even if these sets are convex, they are not given explicitly as in a standard mathematical programming problem, and therefore the projection onto those sets cannot be computed, and conse- quently, available methods (see,e.g., [, , ] and the references therein) cannot be ap- plied for solving SEPNM directly.

In this paper, we first propose a weak convergence algorithm for solving SEPNM by using a combination of the extragradient method with Armijo linesearch type rule for an equi- librium problem [] (see also [–] for more detail on extragradient algorithms) and the Mann method [] (see also [, ]) for a fixed point problem. We then combine this algorithm with hybrid cutting technique [] (see also []) to get a strong convergence algorithm for SEPNM.

The paper is organized as follows. The next section presents some preliminary results.

A weak convergence algorithm and its special case are presented in Section . In the last section, we combine the method presented in Section  with the hybrid projection method for obtaining a strong convergence algorithm for SEPNM.

2 Preliminaries

LetHbe a real Hilbert space, andCa nonempty closed convex subset of H. ByPC we denote the metric projection operator ontoC, that is,

PC(x)∈C: xPC(x)≤ xy, ∀yC.

The following well-known results will be used in the sequel.

Lemma  Suppose that C is a nonempty closed convex subset inH.Then PC has the fol- lowing properties:

(a) PC(x)is singleton and well defined for everyx;

(b) z=PC(x)if and only ifxz,yz ≤,∀yC;

(c) PC(x) –PC(y)PC(x) –PC(y),xy,∀x,y∈H;

(d) PC(x) –PC(y)xyxPC(x) –y+PC(y),∀x,y∈H.

Lemma  LetHbe a real Hilbert space.Then,for all x,y∈Handα∈[, ],we have αx+ ( –α)y=αx+ ( –α)yα( –α)xy.

Lemma (Opial’s condition) For any sequence{xk} ⊂Hwith xkx,we have the inequal- ity

lim inf

k→+∞xkx<lim inf

k→+∞xky for all y∈Hsuch that y=x.

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Definition  We say that an operatorT:H→His demiclosed at  if, for any sequence {xk}such thatxkxandTxk→ ask→ ∞, we haveTx= .

It is well known that, for a nonexpansive operatorT :H→H, the operatorIT is demiclosed at ; see [], Lemma .

Now, we assume that the equilibrium bifunctionsg:Q×Q→Randf :C×C→R satisfy the following assumptions, respectively.

Assumption A

(A) gis monotone onQ, that is,g(u,v) +g(v,u)≤for allu,vQ;

(A) g(u,·)is convex and lower semicontinuous onQfor eachuQ;

(A) for allu,v,wQ,

lim sup

λ↓ g

λw+ ( –λ)u,v

g(u,v).

Assumption B

(B) f is pseudomonotone onC, that is, iff(x,y)≥impliesf(y,x)≤for allx,yC;

(B) f(x,·)is convex and subdifferentiable onCfor allxC;

(B) f is jointly weakly continuous onC×Cin the sense that, ifx,yCand{xk},{yk} ⊂C converge weakly toxandy, respectively, thenf(xk,yk)→f(x,y)ask→+∞.

Letϕbe an equilibrium bifunction defined onC×C. Forx,yC, we denote byϕ(x,y) the subgradient of the convex functionϕ(x,·) aty, that is,

ϕ(x,y) := ξˆ∈H:ϕ(x,z)≥ϕ(x,y) +ˆξ,zy,∀zC . In particular,

ϕ(x,x) = ξˆ∈H:ϕ(x,z)≥ ˆξ,zx,∀zC .

Let Δbe an open convex set containingC. The next lemma can be considered as an infinite-dimensional version of Theorem . in [].

Lemma ([], Proposition .) Letϕ:Δ×Δ→Rbe an equilibrium bifunction satisfy- ing conditions(A)onΔand(A)on C.Letx,¯ ¯yΔ,and let{xk},{yk}be two sequences in Δconverging weakly tox,¯ ¯y,respectively.Then,for anyε> ,there existη> and kε∈N such that

ϕ xk,yk

ϕ(xy) +¯ ε ηB

for every kkε,where B denotes the closed unit ball inH.

Lemma  Let the equilibrium bifunctionϕsatisfy assumptions(A)onΔand(A)on C, and{xk} ⊂C,  <ρ≤ ¯ρ,{ρk} ⊂[ρ,ρ].¯ Consider the sequence{yk}defined as

yk=arg min

ϕ xk,y

+ 

ρk

yxk:yC

. If{xk}is bounded,then{yk}is also bounded.

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Proof First, we show that if{xk}converges weakly tox, then{yk}is bounded. Indeed, yk=arg min

ϕ

xk,y + 

ρk

yxk:yC

and ϕ

xk,xk + 

ρkxkxk= .

Therefore, ϕ

xk,yk + 

ρkykxk≤, ∀k.

In addition, for allξˆkϕ(xk,xk), we have ϕ

xk,yk + 

ρk

ykxkξˆk,ykxk + 

ρk

ykxk.

This implies

–ˆξkykxk+ 

ρk

ykxk≤.

Hence,

ykxk≤ρkˆξk, ∀k.

Because{ρk}is bounded,{xk}converges weakly toxandξˆkϕ(xk,xk). By Lemma  the sequence{ˆξk}is bounded; combining this with the boundedness of{xk}, we get that {yk}is also bounded.

Now let us prove Lemma . Suppose that{yk}is unbounded, that is, there exists a subse- quence{yki} ⊆ {yk}such thatlimi→∞yki= +∞. By the boundedness of{xk}this implies that{xki}is also bounded, and without loss of generality, we may assume that{xki}con- verges weakly to somex. By the same argument as before, we get that{yki}is bounded,

a contradiction. Therefore,{yk}is bounded.

The following lemmas are well known in the theory of monotone equilibrium problems.

Lemma ([]) Let g satisfy AssumptionA.Then,for allα> and u∈H,there exists wQ such that

g(w,v) + 

αvw,wu ≥, ∀vQ.

Lemma ([]) Under the assumptions of Lemma,the mapping Tαgdefined onHas Tαg(u) =

wQ:g(w,v) + 

αvw,wu ≥,∀vQ

has following properties:

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(i) Tαg is single-valued;

(ii) Tαg is firmly nonexpansive,that is,for anyu,v∈H, Tαg(u) –Tαg(v)

Tαg(u) –Tαg(v),uv

; (iii) Fix(Tαg) =Sol(Q,g);

(iv) Sol(Q,g)is closed and convex.

Lemma ([]) Under the assumptions of Lemma,forα,β> and u,v∈H,we have Tαg(u) –Tβg(v)≤ vu+|βα|

β Tβg(v) –v. 3 A weak convergence algorithm

Algorithm 

Initialization. PickxCand choose the parametersβ,η,θ∈(, ), <ρ≤ ¯ρ, {ρk} ⊂[ρ,ρ],¯  <γ≤ ¯γ < ,{γk} ⊂[γ,γ¯], <α,{αk} ⊂[α, +∞),μ∈(,A ).

Iterationk(k= , , , . . .). Havingxk, do the following steps:

Step . Solve the strongly convex program

CP xk

min

f xk,y

+ 

ρk

yxk:yC

to obtain its unique solutionyk.

Ifyk=xk, then setuk=xkand go to Step . Otherwise, go to Step .

Step . (Armijo linesearch rule) Findmkas the smallest positive integer numberm such that

⎧⎨

zk,m= ( –ηm)xk+ηmym,

f(zk,m,xk) –f(zk,m,yk)≥ρθkxkyk. (.) Setηk=ηmk,zk=zk,mk.

Step . Selectξkf(zk,xk)and computeσk=fξ(zkk,xk),uk=PC(xkγkσkξk).

Step .

⎧⎨

vk= ( –β)uk+βSuk, wk=TαgkAvk.

Step . Takexk+=PC(vk+μA(TwkAvk))and go toiterationkwithkreplaced byk+ .

Lemma  Suppose that p∈Sol(C,f),f(x,·)is convex and subdifferentiable on C for all xC and that f is pseudomonotone on C.Then,we have:

(a) The Armijo linesearch rule(.)is well defined;

(b) f(zk,xk) > ;

(c)  /∈f(zk,xk);

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(d)

ukpxkpγk( –γk)

σkξk.

Proof The proof of Lemma  whenH is a finite-dimensional space can be found, for example, in []. When its dimension is infinite, it can be done in the same way. So we

omit it.

Theorem  Let C and Q be two nonempty closed convex subsets inHandH,respectively.

Let S:CC;T:QQ be nonexpansive mappings,and let bifunctions g and f satisfy AssumptionsAandB,respectively.Let A:H→Hbe a bounded linear operator with its adjoint A.IfΩ={x∈Sol(C,f)∩Fix(S) :Ax∈Fix(Q,g)∩Fix(T)} =∅,then the sequences {xk},{uk},{vk}converge weakly to an element pΩ,and{wk}converges weakly to Ap∈ Sol(Q,g)∩Fix(T).

Proof LetxΩ. Thenx∈Sol(C,f)∩Fix(S) andAx∈Sol(Q,g)∩Fix(T).

From Lemma (d) we have

ukxxkxγk( –γk)

σkξk

xkx. By Step  we get

vkx=( –β)uk+βSukx

=( –β) ukx

+β

SukSx

≤( –β)ukx+βSukSx

≤( –β)ukx+βukx

=ukx. Thus,

vkxukxxkx. (.)

Assertions (iii) and (ii) in Lemma  imply that TαgkAvkAx=TαgkAvkTαgkAx

Tαg

kAvkTαg

kAx,AvkAx

= Tαg

kAvkAx,AvkAx

= 

TαgkAvkAx+AvkAxTαgkAvkAvk . Hence,

TαgkAvkAxAvkAxTαgkAvkAvk.

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Because of the nonexpansiveness of the mappingT, we receive from the last inequality that

TwkAx=TTαgkAvkTAx

TαgkAvkAx

AvkAxTαgkAvkAvk. (.) Using (.), we have

A vkx

,TwkAvk

= A

vkx

+TwkAvk

TwkAvk

,TwkAvk

=

TwkAx,TwkAvk

TwkAvk

= 

TwkAx+TwkAvkAvkAxTwkAvk

= 

TwkAxAvkAx

TwkAvk

≤–

Tαg

kAvkAvk–

TwkAvk. (.) By the definition ofxk+we have

xk+x=PC

vk+μA

TwkAvkPC

x

vkx +μA

TwkAvk

=vkx+μA

TwkAvk+ μ

vkx,A

TwkAvk

vkx+μATwkAvk+ μ A

vkx

,TwkAvk . In combination with (.) and (.), the last inequality becomes

xk+xvkx+μATwkAvkμTwkAvkμTαg

kAvkAvk

=vkxμ

 –μATwkAvkμwkAvk

xkxμ

 –μATwkAvkμwkAvk. (.) In view of (.), (.), andμ∈(,A), we get

xk+xvkxukxxkx (.)

and μ

 –μATwkAvk+μwkAvkxkxxk+x. (.)

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Therefore,limk→+∞xkxdoes exist, and we get from (.) and (.) that

k→+∞lim xkx= lim

k→+∞vkx= lim

k→+∞ukx and

k→+∞lim TwkAvk= lim

k→+∞wkAvk= .

(.)

From (.) and the inequality

TwkwkTwkAvk+wkAvk

we get

k→+∞lim Twkwk= . (.)

Besides, Lemma (d) implies

ukxxkxγk( –γk)

σkξk. Hence,

γk( –γk)

σkξkxkxukx

=xkxukxxkx+ukx. In view of (.), we get

k→+∞lim σkξk= . (.)

In addition, by the definition ofuk,uk=PC(xkγkσkξk). We have ukxkγkσkξk.

So we get from (.) that

k→+∞lim ukxk= . (.)

Usingvk= ( –β)uk+βSuk, Lemma , and the nonexpansiveness ofS, we have vkx=( –β)uk+βSukx

=( –β) ukx

+β

Sukx

= ( –β)ukx+βSukxβ( –β)Sukuk

= ( –β)ukx+βSukSxβ( –β)Sukuk

≤( –β)ukx+βukxβ( –β)Sukuk

=ukxβ( –β)Sukuk. (.)

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Therefore,

β( –β)Sukukukxvkx. Combining the last inequality with (.), we obtain that

k→+∞lim Sukuk= . (.)

In addition,

vkxkvkuk+ukxk

=αSukuk+ukxk. Therefore, we get from (.) and (.) that

k→+∞lim vkxk= . (.)

Becauselimk→+∞xkxexists,{xk}is bounded. By Lemma ,{yk}is bounded, and consequently{zk}is bounded. By Lemma ,{ξk}is bounded. Step  and (.) yield

k→∞limf zk,xk

= lim

k→∞

σkξkξk= . (.)

We have

 =f zk,zk

=f

zk, ( –ηk)xk+ηkyk

≤( –ηk)f zk,xk

+ηkf zk,yk

, so, we get from (.) that

f zk,xk

ηk f

zk,xkf

zk,yk

θ

ρk

ηkxkyk. Combining this with (.), we have

k→∞limηkxkyk= . (.)

Suppose thatpis a weak accumulation point of{xk}, that is, there exists a subsequence {xkj}of{xk}such thatxkjconverges weakly topCasj→+∞. Then, it follows from (.) and (.) thatukjp,vkjp, andAvkjAp.

Sincelimk→+∞wkAvk= , we deduce thatwkj Ap. Because{wk} ⊂QandQis closed and convex, we have thatApQ.

From (.) we get

i→∞limηkixkiyki= . (.)

We now consider two distinct cases.

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Case.lim supi→∞ηki> .

In this case, there existη¯>  and a subsequence of{ηki}, denoted again by{ηki}, such that, for somei> ,ηki>η¯for allii. Using this fact and (.), we have

i→∞limxkiyki= . (.)

Recall thatxkp, together with (.), implies thatykipasi→ ∞.

By the definition ofyki, yki=arg min

f

xki,y + 

ρki

yxki:yC

,

we have

∈f xki,yki

+  ρki

ykixki +NC

yki ,

so there existsξˆkif(xki,yki) such that ξˆki,yyki

+  ρki

ykixki,yyki

≥, ∀yC.

Combining this with f

xki,yf

xki,yki

ξˆki,yyki

, ∀yC, yields

f xki,y

f xki,yki

+  ρki

ykixki,yyki

≥, ∀yC. (.)

Since

ykixki,yyki

ykixkiyyki, from (.) we get that

f xki,y

f xki,yki

+ 

ρkiykixkiyyki≥. (.) Lettingi→ ∞, by the weak continuity off and (.), from (.) we obtain in the limit that

f(p,y) –f(p,p)≥.

Hence,

f(p,y)≥, ∀yC,

which means thatpis a solution ofEP(C,f).

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Case.limi→∞ηki= .

From the boundedness of{yki}, without loss of generality, we may assume thatykiy¯ asi→ ∞.

Replacingybyxkiin (.), we get f

xki,yki

≤– 

ρkiykixki. (.)

On the other hand, by the Armijo linesearch rule (.), formki– , we have f

zki,mki–,xkif

zki,mki–,yki

< θ

ρkiykixki. Combining this with (.), we get

f xki,yki

≤– 

ρkiykixki≤ θ

f

zki,mki–,ykif

zki,mki–,xki

. (.)

According to the algorithm, we havezki,mki–= (–ηmki–)xki+ηmki–yki. Sinceηki,mki–→, xkiconverges weakly top, andykiconverges weakly toy, this implies that¯ zki,mki–pas i→ ∞. Beside that, {ρ

kiykixki} is bounded, so without loss of generality we may assume thatlimi→+∞ρ

kiykixkiexists. Hence, in the limit, from (.) we get that f(p,y)¯ ≤– lim

i→+∞

ρki

ykixki≤ θf(p,y).¯

Therefore,f(p,y) =  and¯ limi→+∞ykixki= . ByCase we getp∈Sol(C,f).

Besides that, (.) implies thatSukjukj → asj→ ∞; together withukj pand the demiclosedness ofIS, we getp∈Fix(S).

Therefore,

p∈Sol(C,f)∩Fix(S). (.)

Next, we need to show thatAp∈Sol(Q,g)∩Fix(T).

Indeed, we haveSol(Q,g) =Fix(Tβg). So, ifTβgAp=Ap, then, using Opial’s condition, we have

lim inf

j→+∞AvkjAp<lim inf

j→+∞AvkjTβgAp

=lim inf

j→+∞Avkjwkj+wkjTβgAp

≤lim inf

j→+∞Avkjwkj+TβgApwkj. So it follows from (.) and Lemma  that

lim inf

j→+∞AvkjAp<lim inf

j→+∞TβgApwkj

=lim inf

j→+∞TβgApTαg

kjAvkj

(13)

≤lim inf

j→+∞

AvkjAp+|αkjβ| αkj Tαg

kjAvkjAvkj

=lim inf

j→+∞

AvkjAp+|αkjβ|

αkj wkjAvkj

=lim inf

j→+∞AvkjAp, a contradiction. Thus,Ap∈Fix(Tαg) =Sol(Q,g).

Moreover, (.) shows thatlimj→∞Twkjwkj= . Combining this withwkjApand the fact thatITis demiclosed at , it is immediate thatAp∈Fix(T). Therefore,

Ap∈Sol(Q,g)∩Fix(T). (.)

From (.) and (.) we obtain thatpΩ.

To complete the proof, we must show that the whole sequence{xk}converges weakly top. Indeed, if there exists a subsequence{xli}of{xk}such thatxliqwithq=p, then we haveqΩ. By Opial’s condition this yields

lim inf

i→+∞xliq<lim inf

i→+∞xlip

=lim inf

j→+∞xkp

=lim inf

j→+∞xkjp

<lim inf

j→+∞xkjq

=lim inf

i→+∞xliq,

a contradiction. Hence,{xk}converges weakly top.

Combining this with (.), it is immediate that{uk},{vk}also converge weakly topand

wkAp∈Sol(Q,g)∩Fix(T).

A particular case of the problem SEPNM is the split equilibrium problem SEP, that is, S =IH and T =IH. In this case, we have the following linesearch algorithm for SEP.

Algorithm 

Initialization. PickxCand choose the parametersη,θ∈(, ), <ρ≤ ¯ρ, {ρk} ⊂[ρ,ρ],¯  <γ≤ ¯γ < ,{γk} ⊂[γ,γ¯], <α,{αk} ⊂[α, +∞),μ∈(,A ).

Iterationk(k= , , , . . .). Havingxk, do the following steps:

Step . Solve the strongly convex program

CP xk

min

f xk,y

+ 

ρkyxk:yC

to obtain its unique solutionyk.

Ifyk=xk, then setuk=xkand go to Step . Otherwise, go to Step .

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