Common Fixed Points for Asymptotic Pointwise Nonexpansive Mappings in Metric and Banach Spaces
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
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]), ℝ-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, 11–22] and the references therein). It is worth mentioning that fixed point theorems in CAT(0) spaces (specially in ℝ-trees) can be applied to graph theory, biology, and computer science (see, e.g., [6, 23–26]).
Let (X, d) be a metric space. A geodesic path joining x ∈ X to y ∈ X (or, more briefly, a geodesic from x to y) is a map c from a closed interval [0, l] ⊂ ℝ to X such that c(0) = x, c(l) = y, and d(c(t), c(t′)) = |t − t′| 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, y ∈ X. A subset Y ⊂ X 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.
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 x ∈ X, there exists a unique point P(x) ∈ C such that d(x, P(x)) = inf {d(x, y) : y ∈ C}. Moreover, the map x ↦ P(x) is a nonexpansive retract from X onto C.
-
(ii) [14, Lemma 2.4] For x, y, z ∈ X and t ∈ [0,1], we have
(2.3) -
(iii) [14, Lemma 2.5] For x, y, z ∈ X and t ∈ [0,1], we have
(2.4)
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 x ∈ X 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.
Theorem 2.4. Let C be a nonempty bounded closed convex subset of a complete CAT(0) space X. Suppose that T : C → C is an asymptotic pointwise nonexpansive mapping. Then, F(T) is nonempty closed and convex.
3. Existence Theorems
Let M be a metric space and ℱ a family of subsets of M. Then, we say that ℱ defines a convexity structure on M if it contains the closed balls and is stable by intersection.
Definition 3.1 (see [2].)Let ℱ be a convexity structure on M. We will say that ℱ is compact if any family of elements of ℱ has a nonempty intersection provided ⋂α∈FAα ≠ ∅ 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 ℱ(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, … , Tn ∈ 𝒮. 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 ∈ ℕ with 1 < k ≤ n. For x ∈ A and j ∈ ℕ with 1 ≤ j < k, we have
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 ℱ(𝒮) of common fixed points of 𝒮 is a nonempty nonexpansive retract of C.
4. Convergence Theorems
The following definition is a mild modification of [3, Definition 2.3].
Definition 4.1. Define 𝒯r(C) as a class of all T ∈ 𝒯(C) such that
Let T1, … , Tm ∈ 𝒯r(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 x1 ∈ C, and define a sequence {xk} in C as
Lemma 4.2 (see [36], Lemma 2.2.)Let {an} and {un} be sequences of nonnegative real numbers satisfying
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 n d(un, w) ≤ r, lim sup n d(vn, w) ≤ r, and lim n d((1 − tn)un ⊕ tnvn, w) = r for some r ≥ 0. Then,
Lemma 4.4. Let C be a nonempty closed convex subset of X and T1, … , Tm ∈ 𝒯r(C). Let and {nk} ⊂ ℕ 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 p ∈ F and all k ∈ ℕ,
- (b)
there exists a constant M > 0 such that d(xk+l, p) ≤ Md(xk, p), for all p ∈ F and k, l ∈ ℕ.
Proof. (a) Let p ∈ F and for all k ∈ ℕ. Since , we have . Now,
(b) We observe that (1+α)n ≤ enα holds for all n ∈ ℕ and α ≥ 0. Thus, by (a), for k, l ∈ ℕ, we have
Theorem 4.5. Let C be a nonempty closed convex subset of X and T1, …, Tm ∈ 𝒯r(C). Let and {nk} ⊂ ℕ 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 k→∞ d(xk, F) = 0, where d(x, F) = inf p∈F d(x, p).
Proof. The necessity is obvious. Now, we prove the sufficiency. From Lemma 4.4(a), we have
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, …, Tm ∈ 𝒯r(C). Let and {nk} ⊂ ℕ be such that {xk} in (4.4) is well defined. Assume that F ≠ ∅. Then, {xk} converges to a point p ∈ F if and only if there exists a subsequence of {xk} which converges to p.
Definition 4.7. A strictly increasing sequence {nk} ⊂ ℕ is called quasiperiodic [39] if the sequence {nk+1 − nk} is bounded or equivalently if there exists a number p ∈ ℕ 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, …, Tm ∈ 𝒯r(C). Let for some δ ∈ (0, 1/2) and {nk} ⊂ ℕ be such that {xk} in (4.4) is well defined. Then,
- (i)
lim k→∞ d(xk, p) exists for all p ∈ F,
- (ii)
, for all j = 1,2, …, m,
- (iii)
if the set 𝒥 = {k ∈ ℕ : nk+1 = 1 + nk} is quasiperiodic, then lim k→∞ d(xk, Tjxk) = 0, for all j = 1,2, …, m.
Proof. (i) Follows from Lemmas 4.2(i) and 4.4(a).
(ii) Let p ∈ F, then, by (i), we have lim k→∞ d(xk, p) exists. Let
We also obtain from (4.23) that
Let N = max {N1, N2}. Then, for l ≥ N, we have from (4.42), (4.44), and (4.45) that
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 T ∈ 𝒯r(C). If lim n→∞ d(xn, Txn) = 0, then lim n→∞ d(xn, Tlxn) = 0 for every l ∈ ℕ.
Lemma 4.10. Let C be a nonempty closed convex subset of X, and let T ∈ 𝒯r(C). Suppose {xn} is a bounded sequence in C such that lim n d(xn, Txn) = 0 and Δ-lim n xn = 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 : C → C be an asymptotic pointwise nonexpansive mapping. Suppose {xn} is a bounded sequence in C such that lim n d(xn, T(xn)) = 0 and d(xn, v) converges for each v ∈ F(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, …, Tm ∈ 𝒯r(C). Let for some δ ∈ (0, 1/2) and {nk} ⊂ ℕ be such that {xk} in (4.4) is well defined. Suppose that and the set 𝒥 = {k ∈ ℕ : 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 p ∈ F, by Lemma 4.8, lim k→∞ d(xk, p) existsm and hence {xk} is bounded. Since lim k→∞ d(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 : C → C is said to be semicompact if C is closed and, for any bounded sequence {xn} in C with lim n→∞ d(xn, Txn) = 0, there exists a subsequence of {xn} and x ∈ C such that .
Theorem 4.13. Let C be a nonempty closed convex subset of X and T1, …, Tm ∈ 𝒯r(C) such that is semicompact for some i ∈ {1, …, m} and l ∈ ℕ. Let for some δ ∈ (0, 1/2) and {nk} ⊂ ℕ be such that {xk} in (4.4) is well defined. Suppose that and the set 𝒥 = {k ∈ ℕ : nk+1 = 1 + nk} is quasiperiodic. Then, {xk} converges to a common fixed point of the family {Ti : i = 1,2, …, m}.
5. Concluding Remarks
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, …, Tm ∈ 𝒯r(C), for some δ ∈ (0, 1/2), and let {nk} ⊂ ℕ be such that {xk} in (5.1) is well defined. Suppose that and the set 𝒥 = {k ∈ ℕ : 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, …, Tm ∈ 𝒯r(C) such that is semicompact for some i ∈ {1, …, m} and l ∈ ℕ. Let for some δ ∈ (0, 1/2), and let {nk} ⊂ ℕ be such that {xk} in (5.1) is well defined. Suppose that and the set 𝒥 = {k ∈ ℕ : 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.