Volume 2012, Issue 1 327434
Research Article
Open Access

Common Fixed Points for Asymptotic Pointwise Nonexpansive Mappings in Metric and Banach Spaces

P. Pasom

P. Pasom

Department of Mathematics, Faculty of Science, Chiang Mai University, Chiang Mai 50200, Thailand cmu.ac.th

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B. Panyanak

Corresponding Author

B. Panyanak

Department of Mathematics, Faculty of Science, Chiang Mai University, Chiang Mai 50200, Thailand cmu.ac.th

Centre of Excellence in Mathematics, CHE, Si Ayutthaya Road, Bangkok 10400, Thailand

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First published: 20 February 2012
Citations: 1
Academic Editor: Rudong Chen

Abstract

Let C be a nonempty bounded closed convex subset of a complete CAT(0) space X. We prove that the common fixed point set of any commuting family of asymptotic pointwise nonexpansive mappings on C is nonempty closed and convex. We also show that, under some suitable conditions, the sequence defined by , converges to a common fixed point of T1, T2, …, Tm where they are asymptotic pointwise nonexpansive mappings on C, are sequences in [0,1] for all i = 1,2, …, m, and {nk} is an increasing sequence of natural numbers. The related results for uniformly convex Banach spaces are also included.

1. Introduction

A mapping T on a subset C of a Banach space X is said to be asymptotic pointwise nonexpansive if there exists a sequence of mappings αn : C → [0, ) such that
(1.1)
where limsup nαn(x) ≤ 1, for all x, yC. This class of mappings was introduced by Kirk and Xu [1], where it was shown that if C is a bounded closed convex subset of a uniformly convex Banach space X, then every asymptotic pointwise nonexpansive mapping T : CC always has a fixed point. In 2009, Hussain and Khamsi [2] extended Kirk-Xu′s result to the case of metric spaces, specifically to the so-called CAT(0) spaces. Recently, Kozlowski [3] defined an iterative sequence for an asymptotic pointwise nonexpansive mapping T : CC by x1C and
(1.2)
where {tk} and {sk} are sequences in [0,1] and {nk} is an increasing sequence of natural numbers. He proved, under some suitable assumptions, that the sequence {xk} defined by (1.2) converges weakly to a fixed point of T where X is a uniformly convex Banach space which satisfies the Opial condition and {xk} converges strongly to a fixed point of T provided Tr is a compact mapping for some r. On the other hand, Khan et al. [4] studied the iterative process defined by
(1.3)
where T1, …, Tm are asymptotically quasi-nonexpansive mappings on C and are sequences in [0,1] for all i = 1,2, …, m.
In this paper, motivated by the results mentioned above, we ensure the existence of common fixed points for a family of asymptotic pointwise nonexpansive mappings in a CAT(0) space. Furthermore, we obtain ▵ and strong convergence theorems of a sequence defined by
(1.4)
where T1,    … , Tm are asymptotic pointwise nonexpansive mappings on a subset C of a complete CAT(0) space and are sequences in [0,1] for all i = 1,2,    … , m, and {nk} is an increasing sequence of natural numbers. We also note that our method can be used to prove the analogous results for uniformly convex Banach spaces.

2. Preliminaries

A metric space X is a CAT(0) space if it is geodesically connected and if every geodesic triangle in X is at least as “thin” as its comparison triangle in the Euclidean plane. It is well-known that any complete, simply connected Riemannian manifold having nonpositive sectional curvature is a CAT(0) space. Other examples include Pre-Hilbert spaces (see [5]), -trees (see [6]), Euclidean buildings (see [7]), and the complex Hilbert ball with a hyperbolic metric (see [8]). For a thorough discussion of these spaces and of the fundamental role they play in geometry, we refer the reader to Bridson and Haefliger [5].

Fixed point theory in CAT(0) spaces was first studied by Kirk (see [9, 10]). He showed that every nonexpansive (single-valued) mapping defined on a bounded closed convex subset of a complete CAT(0) space always has a fixed point. Since then the fixed point theory for single-valued and multivalued mappings in CAT(0) spaces has been rapidly developed, and many papers have appeared (see, e.g., [2, 1122] and the references therein). It is worth mentioning that fixed point theorems in CAT(0) spaces (specially in -trees) can be applied to graph theory, biology, and computer science (see, e.g., [6, 2326]).

Let (X, d) be a metric space. A geodesic path joining xX to yX (or, more briefly, a geodesic from x to y) is a map c from a closed interval [0, l] ⊂ to X such that c(0) = x,   c(l) = y, and d(c(t), c(t)) = |tt| for all t, t ∈ [0, l]. In particular, c is an isometry and d(x, y) = l. The image α of c is called a geodesic (or metric) segment joining x and y. When it is unique, this geodesic is denoted by [x, y]. The space (X, d) is said to be a geodesic space if every two points of X are joined by a geodesic, and X is said to be uniquely geodesic if there is exactly one geodesic joining x and y for each x, yX. A subset YX is said to be convex if Y includes every geodesic segment joining any two of its points.

A geodesic triangle ▵(x1, x2, x3) in a geodesic space (X, d) consists of three points x1, x2, x3 in X (the vertices of ▵) and a geodesic segment between each pair of vertices (the edges of ▵). A comparison triangle for geodesic triangle ▵(x1, x2, x3) in (X, d) is a triangle in the Euclidean plane 𝔼2 such that for i, j ∈ {1,2, 3}.

A geodesic space is said to be a CAT(0) space if all geodesic triangles satisfy the following comparison axiom.

CAT(0): Let ▵ be a geodesic triangle in X, and let be a comparison triangle for ▵. Then, ▵ is said to satisfy the CAT(0) inequality if for all x, y ∈ ▵ and all comparison points ,
(2.1)
Let x, yX, by Lemma  2.1(iv) of [14] for each t ∈ [0,1], there exists a unique point z ∈ [x, y] such that
(2.2)
We will use the notation (1 − t)xty for the unique point z satisfying (2.2). We now collect some elementary facts about CAT(0) spaces.

Lemma 2.1. Let X be a complete CAT(0) space.

  • (i) [5, Proposition  2.4] If C is a nonempty closed convex subset of X, then, for every xX, there exists a unique point P(x) ∈ C such that d(x, P(x)) = inf {d(x, y) : yC}. Moreover, the map xP(x) is a nonexpansive retract from X onto C.

  • (ii) [14, Lemma  2.4] For x, y, zX and t ∈ [0,1], we have

    (2.3)

  • (iii) [14, Lemma  2.5] For x, y, zX and t ∈ [0,1], we have

    (2.4)

We now give the concept of Δ-convergence and collect some of its basic properties. Let {xn} be a bounded sequence in a CAT(0) space X. For xX, we set
(2.5)
The asymptotic radius r({xn}) of {xn} is given by
(2.6)
and the asymptotic center A({xn}) of {xn} is the set
(2.7)

It is known from Proposition  7 of [27] that, in a CAT(0) space, A({xn}) consists of exactly one point.

Definition 2.2 (see [28], [29].)A sequence {xn} in a CAT(0) space X is said to Δ-converge to xX if x is the unique asymptotic center of {un} for every subsequence {un} of {xn}. In this case, we write and call x the Δ-limit of {xn}.

Lemma 2.3. Let X be a complete CAT(0) space.

  • (i)

    [28, page 3690] Every bounded sequence in X has a Δ-convergent subsequence.

  • (ii)

    [30, Proposition  2.1] If C is a closed convex subset of a complete CAT(0) space and if {xn} is a bounded sequence in C, then the asymptotic center of {xn} is in C.

  • (iii)

    [14, Lemma  2.8] If {xn} is a bounded sequence in a complete CAT(0) space with A({xn}) = {x} and {un} is a subsequence of {xn} with A({un}) = {u} and the sequence {d(xn, u)} converges, then x = u.

Recall that a mapping T : XX is said to be nonexpansive [31] if
(2.8)
where T is called asymptotically nonexpansive [32] if there is a sequence {kn} of positive numbers with the property lim nkn = 1 and such that
(2.9)
where T is called an asymptotic pointwise nonexpansive mapping [1] if there exists a sequence of functions αn : X → [0, ) such that
(2.10)
where lim  sup nαn(x) ≤ 1. The following implications hold.
(2.11)
A point xX is called a fixed point of T if x = Tx. We shall denote by F(T) the set of fixed points of T. The existence of fixed points for asymptotic pointwise nonexpansive mappings in CAT(0) spaces was proved by Hussain and Khamsi [2] as the following result.

Theorem 2.4. Let C be a nonempty bounded closed convex subset of a complete CAT(0) space X. Suppose that T : CC is an asymptotic pointwise nonexpansive mapping. Then, F(T) is nonempty closed and convex.

3. Existence Theorems

Let M be a metric space and a family of subsets of M. Then, we say that defines a convexity structure on M if it contains the closed balls and is stable by intersection.

Definition 3.1 (see [2].)Let be a convexity structure on M. We will say that is compact if any family of elements of has a nonempty intersection provided ⋂αFAα for any finite subset F ⊂ Γ.

Let X be a complete CAT(0) space. We denote by 𝒞(X) the family of all closed convex subsets of X. Then, 𝒞(X) is a compact convexity structure on X (see, e.g., [2]).

The following theorem is an extension of Theorem  4.3 in [33]. For an analog of this result in uniformly convex Banach spaces, see [34].

Theorem 3.2. Let C be a nonempty bounded closed and convex subset of a complete CAT(0) space X. Then, for any commuting family 𝒮 of asymptotic pointwise nonexpansive mappings on C, the set (𝒮) of common fixed points of 𝒮 is nonempty closed and convex.

Proof. Let 𝒯 be the family of all finite intersections of the fixed point sets of mappings in the commutative family 𝒮. We first show that 𝒯 has the finite intersection property. Let T1, T2,    … , Tn𝒮. By Theorem 2.4, F(T1) is a nonempty closed and convex subset of C. We assume that is nonempty closed and convex for some k with 1 < kn. For xA and j with 1 ≤ j < k, we have

(3.1)
Thus, Tk(x) is a fixed point of Tj, which implies that Tk(x) ∈ A; therefore, A is invariant under Tk. Again, by Theorem 2.4, Tk has a fixed point in A, that is,
(3.2)
By induction, . Hence, 𝒯 has the finite intersection property. Since 𝒞(X) is compact,
(3.3)
Obviously, the set is closed and convex.

As a consequence of Lemma 2.1(i) and Theorem 3.2, we obtain an analog of Bruck′s theorem [35].

Corollary 3.3. Let C be a nonempty bounded closed and convex subset of a complete CAT(0) space X. Then, for any commuting family 𝒮 of nonexpansive mappings on C, the set (𝒮) of common fixed points of 𝒮 is a nonempty nonexpansive retract of C.

4. Convergence Theorems

Throughout this section, X stands for a complete CAT(0) space. Let C be a closed convex subset of X. We shall denote by 𝒯(C) the class of all asymptotic pointwise nonexpansive mappings from C into C. Let T1, …, Tm𝒯(C), without loss of generality, we can assume that there exists a sequence of mappings αn : C → [0, ) such that for all x, yC,  i = 1, …, m, and n, we have
(4.1)
Let an(x) = max {αn(x), 1}. Again, without loss of generality, we can assume that
(4.2)
for all x, yC,   i = 1,    … , m, and n. We define bn(x) = an(x) − 1, then, for each xC, we have lim nbn(x) = 0.

The following definition is a mild modification of [3, Definition  2.3].

Definition 4.1. Define 𝒯r(C) as a class of all T𝒯(C) such that

(4.3)
an  is  a  bounded  function  for  every  n.

Let T1,    … , Tm𝒯r(C), and let be bounded away from 0 and 1 for all i = 1,2,    … , m, and {nk} an increasing sequence of natural numbers. Let x1C, and define a sequence {xk} in C as

(4.4)
We say that the sequence {xk} in (4.4) is well defined if . As in [3], we observe that lim kak(x) = 1 for every xC. Hence, we can always choose a subsequence which makes {xk} well defined.

Lemma 4.2 (see [36], Lemma  2.2.)Let {an} and {un} be sequences of nonnegative real numbers satisfying

(4.5)
Then, (i) lim nan exists, (ii) if lim  inf nan = 0, then lim nan = 0.

Lemma 4.3 (see [37], [38].)Suppose {tn} is a sequence in [b, c] for some b, c ∈ (0,1) and {un}, {vn} are sequences in X such that lim  sup nd(un, w) ≤ r,  lim  sup nd(vn, w) ≤ r, and lim nd((1 − tn)untnvn, w) = r for some r ≥ 0. Then,

(4.6)

Lemma 4.4. Let C be a nonempty closed convex subset of X and T1,    … , Tm𝒯r(C). Let and {nk} ⊂ be such that {xk} in (4.4) is well defined. Assume that . Then,

  • (a)

    there exists a sequence {vk} in [0, ) such that and ,   for all pF and all k,

  • (b)

    there exists a constant M > 0 such that d(xk+l, p) ≤ Md(xk, p),   for all pF and k, l.

Proof. (a) Let pF and for all k. Since , we have . Now,

(4.7)
Suppose that holds for some 1 ≤ jm − 2. Then,
(4.8)
By induction, we have
(4.9)
This implies
(4.10)
This completes the proof of (a).

(b) We observe that (1+α)nenα holds for all n and α ≥ 0. Thus, by (a), for k, l, we have

(4.11)
The proof is complete by setting .

Theorem 4.5. Let C be a nonempty closed convex subset of X and T1, …, Tm𝒯r(C). Let and {nk} ⊂ be such that {xk} in (4.4) is well defined. Assume that F. Then, {xk} converges to some point in F if and only if lim  inf kd(xk, F) = 0, where d(x, F) = inf pFd(x, p).

Proof. The necessity is obvious. Now, we prove the sufficiency. From Lemma 4.4(a), we have

(4.12)
This implies
(4.13)
Since , then . By Lemma 4.2(ii), we get lim kd(xk, F) = 0. Next, we show that {xk} is a Cauchy sequence. From Lemma 4.4(b), there exists M > 0 such that
(4.14)
Since lim kd(xk, F) = 0, for each ɛ > 0, there exists k1 such that
(4.15)
Hence, there exists z1F such that
(4.16)
By (4.14) and (4.16), for kk1, we have
(4.17)
This shows that {xk} is a Cauchy sequence and so converges to some qC. We next show that qF. Let L = sup {a1(x) : xC}. Then, for each ϵ > 0, there exists k2 such that
(4.18)
Since lim kd(xk, F) = 0, there exists k3k2 such that
(4.19)
Thus, there exists z2F such that
(4.20)
By (4.18) and (4.20), for each i = 1,2, …, m, we have
(4.21)
Since ϵ is arbitrary, we have Tiq = q for all i = 1,2, …, m. Hence, qF.

As an immediate consequence of Theorem 4.5, we obtain the following.

Corollary 4.6. Let C be a nonempty closed convex subset of X and T1, …, Tm𝒯r(C). Let and {nk} ⊂ be such that {xk} in (4.4) is well defined. Assume that F. Then, {xk} converges to a point pF if and only if there exists a subsequence of {xk} which converges to p.

Definition 4.7. A strictly increasing sequence {nk} ⊂ is called quasiperiodic [39] if the sequence {nk+1nk} is bounded or equivalently if there exists a number p such that any block of p consecutive natural numbers must contain a term of the sequence {nk}. The smallest of such numbers p will be called a quasiperiod of {nk}.

Lemma 4.8. Let C be a nonempty closed convex subset of X and T1, …, Tm𝒯r(C). Let for some δ ∈ (0, 1/2) and {nk} ⊂ be such that {xk} in (4.4) is well defined. Then,

  • (i)

    lim kd(xk, p) exists for all pF,

  • (ii)

    ,   for all j = 1,2, …, m,

  • (iii)

    if the set 𝒥 =   {k : nk+1 = 1 + nk} is quasiperiodic, then lim kd(xk, Tjxk) = 0,   for all j = 1,2, …, m.

Proof. (i) Follows from Lemmas 4.2(i) and 4.4(a).

(ii) Let pF, then, by (i), we have lim kd(xk, p) exists. Let

(4.22)
By (4.9) and (4.22), we get that
(4.23)
Note that
(4.24)
Thus,
(4.25)
so that
(4.26)
From (4.23) and (4.26), we have
(4.27)
That is
(4.28)
for each j = 1,2, …, m − 1.

We also obtain from (4.23) that

(4.29)
By Lemma 4.3, we get that
(4.30)
For the case j = m, by (4.1), we have
(4.31)
But since lim kd(xk, p) = c, then
(4.32)
Moreover,
(4.33)
Again, by Lemma 4.3, we get that
(4.34)
Thus, (4.30) and (4.34) imply that
(4.35)
(iii) For j = 1, from (ii), we have
(4.36)
If j = 2,3, …, m, then we have
(4.37)
By (ii) and , we get
(4.38)
By (4.36) and (4.38), we have
(4.39)
By the construction of the sequence {xk}, we have from (4.35) that
(4.40)
Next, we show that
(4.41)
It is enough to prove that d(Tjxk, xk) → 0 as k though 𝒥. Indeed, let p be a quasiperiod of 𝒥, and let ɛ > 0 be given. Then, there exists N1 such that
(4.42)
By the quasiperiodicity of 𝒥, for each l, there exists il𝒥 such that |lil | ≤ p. Without loss of generality, we can assume that lill + p (the proof for the other case is identical). Let M = sup {a1(x) : xC}. Then, M ≥ 1. Since lim ld(xl+1, xl) = 0 by (4.40), there exists N2 such that
(4.43)
This implies that
(4.44)
By the definition of T, we have
(4.45)

Let N = max {N1, N2}. Then, for lN, we have from (4.42), (4.44), and (4.45) that

(4.46)
To prove that d(Tjxk, xk) → 0 as k though 𝒥. Since 𝒥 = {k : nk+1 = nk + 1} is quasiperiodic, for each k𝒥, we have
(4.47)
From this, together with (4.39) and (4.40), we can obtain that d(Tjxk, xk) → 0 as k   through 𝒥.

The following lemmas can be found in [3] (see also [2]).

Lemma 4.9. Let C be a nonempty closed convex subset of X, and let T𝒯r(C). If lim nd(xn, Txn) = 0, then lim nd(xn, Tlxn) = 0 for every l.

Lemma 4.10. Let C be a nonempty closed convex subset of X, and let T𝒯r(C). Suppose {xn} is a bounded sequence in C such that lim nd(xn, Txn) = 0 and Δ-lim nxn = w. Then, Tw = w.

By using Lemmas 2.3 and 4.10, we can obtain the following result. We omit the proof because it is similar to the one given in [38].

Lemma 4.11. Let C be a closed convex subset of X, and let T : CC be an asymptotic pointwise nonexpansive mapping. Suppose {xn} is a bounded sequence in C such that lim nd(xn, T(xn)) = 0 and d(xn, v) converges for each vF(T), then ωw(xn) ⊂ F(T). Here, ωw(xn) = ⋃A({un}) where the union is taken over all subsequences {un} of {xn}. Moreover, ωw(xn) consists of exactly one point.

Now, we are ready to prove our Δ-convergence theorem.

Theorem 4.12. Let C be a nonempty closed convex subset of X and T1, …, Tm𝒯r(C). Let for some δ ∈ (0, 1/2) and {nk} ⊂ be such that {xk} in (4.4) is well defined. Suppose that and the set 𝒥 =   {k : nk+1 = 1 + nk} is quasiperiodic. Then, {xk}Δ-converges to a common fixed point of the family {Ti : i = 1,2, …, m}.

Proof. Let pF, by Lemma 4.8,  lim kd(xk, p) existsm and hence {xk} is bounded. Since lim kd(xk, Tjxk) = 0 for all j = 1,2, …, m, then by Lemma 4.11  ωw(xk) ⊂ F(Tj) for all j = 1,2, …, m, and hence . Since ωw(xn) consists of exactly one point, then {xk}Δ-converges to an element of F.

Before proving our strong convergence theorem, we recall that a mapping T : CC is said to be semicompact if C is closed and, for any bounded sequence {xn} in C with lim nd(xn, Txn) = 0, there exists a subsequence of {xn} and xC such that .

Theorem 4.13. Let C be a nonempty closed convex subset of X and T1, …, Tm𝒯r(C) such that is semicompact for some i ∈ {1, …, m} and l. Let for some δ ∈ (0, 1/2) and {nk} ⊂ be such that {xk} in (4.4) is well defined. Suppose that and the set 𝒥 =   {k : nk+1 = 1 + nk} is quasiperiodic. Then, {xk} converges to a common fixed point of the family {Ti : i = 1,2, …, m}.

Proof. By Lemma 4.8, we have

(4.48)
Let i ∈ {1, …, m} be such that is semicompact. Thus, by Lemma 4.9,
(4.49)
We can also find a subsequence of {xk} such that . Hence, from (4.48), we have
(4.50)
Thus, qF, and, by Corollary 4.6, {xk} converges to q. This completes the proof.

5. Concluding Remarks

One may observe that our method can be used to obtain the analogous results for uniformly convex Banach spaces. Let C be a nonempty closed convex subset of a Banach space X and fix x1C. Define a sequence {xk} in C as
(5.1)
where T1, …, Tm𝒯r(C),   are sequences in [0,1] for all i = 1,2, …, m, and {nk} is an increasing sequence of natural numbers.

Theorem 5.1. Let X be a uniformly convex Banach space with the Opial property, and let C be a nonempty closed convex subset of X. Let T1, …, Tm𝒯r(C),   for some δ ∈ (0, 1/2), and let {nk} ⊂ be such that {xk} in (5.1) is well defined. Suppose that and the set 𝒥 = {k : nk+1 = 1 + nk} is quasiperiodic. Then, {xk} converges weakly to a common fixed point of the family {Ti : i = 1,2, …, m}.

Theorem 5.2. Let C be a nonempty closed convex subset of a uniformly convex Banach space X and T1, …, Tm𝒯r(C) such that is semicompact for some i ∈ {1, …, m} and l. Let for some δ ∈ (0, 1/2), and let {nk} ⊂ be such that {xk} in (5.1) is well defined. Suppose that and the set 𝒥 = {k : nk+1 = 1 + nk} is quasiperiodic. Then, {xk} converges strongly to a common fixed point of the family {Ti : i = 1,2, …, m}.

Acknowledgments

This research is (partially) supported by the Centre of Excellence in Mathematics, the Commission on Higher Education, Thailand. The first author also thanks the Graduate School of Chiang Mai University, Thailand.

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