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A positive fixed point theorem with applications to systems of Hammerstein integral equations
Boundary Value Problems volume 2014, Article number: 254 (2014)
Abstract
We present new criteria on the existence of fixed points that combine some monotonicity assumptions with the classical fixed point index theory. As an illustrative application, we use our theoretical results to prove the existence of positive solutions for systems of nonlinear Hammerstein integral equations. An example is also presented to show the applicability of our results.
MSC: 47H10, 34B10, 34B18, 45G15, 47H30.
1 Introduction
In this manuscript we pursue the line of research developed in the recent papers [1]–[5] in order to deal with fixed point theorems on cones that mix monotonicity assumptions and conditions in one boundary, instead of imposing conditions on two boundaries as in the celebrated cone compression/expansion fixed point theorem of Krasnosel’skiĭ. In order to do this we employ the wellknown monotone iterative method, combined with the classical fixed point index. In Section 2 we prove two results concerning nondecreasing and nonincreasing operators in a shell, in presence of an upper or of a lower solution; in Remark 2.4 we present a comparison with previous results in this direction.
In [3] Cid et al., in order to show the existence of positive solutions of the fourthorder boundary value problem (BVP)
where \lambda >0, studied the associated Hammerstein integral equation
where k is precisely the Green’s function associated to the BVP (1.1). Having defined the constant
the main result in [3], regarding the BVP (1.1), is the following.
Theorem 1.1
Assume that{lim}_{s\to \mathrm{\infty}}\frac{f(s)}{s}=+\mathrm{\infty}and there existsB\in [0,+\mathrm{\infty}]such that f is nondecreasing on[0,B). If
(with the obvious meaning whenf(s)=0), then the BVP (1.1) has at least a positive solution.
Note that the above theorem is valid for a specific Green’s function. On the other hand the existence of nonnegative solutions for systems of Hammerstein integral equations has been widely studied; see for example [6]–[22] and references therein. In Section 3 we give an extension of Theorem 1.1 to the context of systems of Hammerstein integral equations of the type
providing, under suitable assumptions on the kernels and the nonlinearities, the existence of a positive solution.
In order to show the applicability of our results, we discuss the following system of secondorder ODEs, subject to local and nonlocal boundary conditions, which generates two different kernels:
computing all the constants that occur in our theory. We also prove that the system (1.4) has a solution for every {\lambda}_{1},{\lambda}_{2}>0. A similar result has been proven recently, in the context of one equation subject to nonlinear boundary conditions, by Goodrich [23].
2 Two fixed point theorems in cones
A subset K of a real Banach space X is a cone if it is closed, K+K\subset K, \lambda K\subset K for all \lambda \ge 0, and K\cap (K)=\{\theta \}. A cone K defines the partial ordering in X given by
We reserve the symbol ‘≤’ for the usual order on the real line. For x,y\in X, with x\u2aafy, we define the ordered interval
The cone K is normal if there exists d>0 such that for all x,y\in X with 0\u2aafx\u2aafy then \parallel x\parallel \le d\parallel y\parallel.
We denote the closed ball of center {x}_{0}\in X and radius r>0 as
and the intersection of the cone with the open ball centered at the origin and radius r>0 as
We recall a wellknown result of fixed point theory, known as the monotone iterative method (see, for example, [24], Theorem 7.A] or [25]).
Theorem 2.1
Let N be a real Banach space with normal order cone K. Suppose that there exist\alpha \le \betasuch thatT:[\alpha ,\beta ]\subset N\to Nis a completely continuous monotone nondecreasing operator with\alpha \le T\alphaandT\beta \le \beta. Then T has a fixed point and the iterative sequence{\alpha}_{n+1}=T{\alpha}_{n}, with{\alpha}_{0}=\alpha, converges to the greatest fixed point of T in[\alpha ,\beta ], and the sequence{\beta}_{n+1}=T{\beta}_{n}, with{\beta}_{0}=\beta, converges to the smallest fixed point of T in[\alpha ,\beta ].
In the next proposition we recall the main properties of the fixed point index of a completely continuous operator relative to a cone, for more details see [26], [27]. In the sequel the closure and the boundary of subsets of K are understood to be relative to K.
Proposition 2.2
Let D be an open bounded set of X with0\in {D}_{K}and{\overline{D}}_{K}\ne K, where{D}_{K}=D\cap K. Assume thatT:{\overline{D}}_{K}\to Kis a completely continuous operator such thatx\ne Txforx\in \partial {D}_{K}. Then the fixed point index{i}_{K}(T,{D}_{K})has the following properties:

(i)
If there exists e\in K\setminus \{0\} such that x\ne Tx+\lambda e for all x\in \partial {D}_{K} and all \lambda >0, then {i}_{K}(T,{D}_{K})=0.
For example (i) holds ifTx\u22e0xforx\in \partial {D}_{K}.

(ii)
If \parallel Tx\parallel \ge \parallel x\parallel for x\in \partial {D}_{K}, then {i}_{K}(T,{D}_{K})=0.

(iii)
If Tx\ne \lambda x for all x\in \partial {D}_{K} and all \lambda >1, then {i}_{K}(T,{D}_{K})=1.
For example (iii) holds if eitherTx\u22e1xforx\in \partial {D}_{K}or\parallel Tx\parallel \le \parallel x\parallelforx\in \partial {D}_{K}.

(iv)
Let {D}^{1} be open in X such that \overline{{D}^{1}}\subset {D}_{K}. If {i}_{K}(T,{D}_{K})=1 and {i}_{K}(T,{D}_{K}^{1})=0, then T has a fixed point in {D}_{K}\setminus \overline{{D}_{K}^{1}}. The same holds if {i}_{K}(T,{D}_{K})=0 and {i}_{K}(T,{D}_{K}^{1})=1.
We state our first result on the existence of nontrivial fixed points.
Theorem 2.3
Let X be a real Banach space, K a normal cone with normal constantd\ge 1and nonempty interior (i.e. solid) andT:K\to Ka completely continuous operator.
Assume that
(1):there exist\beta \in K, withT\beta \u2aaf\beta, andR>0such thatB[\beta ,R]\subset K,
(2):the map T is nondecreasing in the set
(3):there exists a (relatively) open bounded setV\subset Ksuch that{i}_{K}(T,V)=0and either{\overline{K}}_{R}\subset Vor\overline{V}\subset {K}_{R}.
Then the map T has at least one nonzero fixed point{x}_{1}in K such that
Proof
Since B[\beta ,R]\subset K, if x\in K with \parallel x\parallel =R, then x\u2aaf\beta.
Suppose first that we can choose \alpha \in K with \parallel \alpha \parallel =R and T\alpha \u2ab0\alpha. Since \alpha \u2aaf\beta and due to the normality of the cone K we have [\alpha ,\beta ]\subset \mathcal{P}, which implies that T is nondecreasing on [\alpha ,\beta ]. Then we can apply the Theorem 2.1 to ensure the existence of a fixed point of T on [\alpha ,\beta ], which, in particular, is a nontrivial fixed point.
Now suppose that such α does not exist. Thus Tx\u22e1x for all x\in K with \parallel x\parallel =R, which by Proposition 2.2(iii) implies that {i}_{K}(T,{K}_{R})=1. Since, by assumption, {i}_{K}(T,V)=0 we get the existence of a nontrivial fixed point {x}_{1} belonging to the set V\setminus {\overline{K}}_{R} (when {\overline{K}}_{R}\subset V) or to the {K}_{R}\setminus \overline{V} (when \overline{V}\subset {K}_{R}). □
Remark 2.4
We note that we can use either Proposition 2.2(i), or Proposition 2.2(ii), in order to check the assumption (3) in Theorem 2.3. We also stress that \mathcal{P} is contained in the set \{x\in K:\frac{R}{d}\le \parallel x\parallel \le d\parallel \beta \parallel \}. Therefore Theorem 2.3 is a genuine generalization of the previous fixed point theorems obtained in [1]–[4]. Moreover, we show in the applications that in many cases it is useful to apply Theorem 2.3 with a set V different from {K}_{r}.
We observe that, following some ideas introduced in [2], Theorem 2.1], it is possible to modify the assumptions of Theorem 2.3 in order to deal with nonincreasing operators. The next result describes precisely this situation.
Theorem 2.5
Let X be a real Banach space, K a cone with nonempty interior (i.e. solid) andT:K\to Ka completely continuous operator.
Assume that
(1′):there exist\alpha \in K, withT\alpha \u2aaf\alpha, and0<R<\parallel \alpha \parallelsuch thatB[\alpha ,R]\subset K,
(2′):the map T is nonincreasing in the set
(3′):there exists a (relatively) open bounded setV\subset Ksuch that{i}_{K}(T,V)=1and either{\overline{K}}_{R}\subset Vor\overline{V}\subset {K}_{R}.
Then the map T has at least one nonzero fixed point such that
Proof
Let x\in K be such that \parallel x\parallel =R. Then by (1′) we have x\u2aaf\alpha and since x,\alpha \in \tilde{\mathcal{P}} it follows from (2′) that
Now, if for some x\in \partial {K}_{R} is the case that Tx\u2aafx then we are done. If not, Tx\u22e0x for all x\in \partial {K}_{R} which by Proposition 2.2 implies that {i}_{K}(T,{K}_{R})=0. This result together with (3′) gives the existence of a nonzero fixed point with the desired localization property. □
3 An application to a system of Hammerstein integral equations
We now apply the results of the previous section in order to prove the existence of positive solutions of the system of integral equations
where we assume the following assumptions:
(H_{1}):{\lambda}_{i}>0, for i=1,2.
(H_{2}):{k}_{i}:[a,b]\times [a,b]\to [0,+\mathrm{\infty}) is continuous, for i=1,2.
(H_{3}):{g}_{i}:[a,b]\to [0,+\mathrm{\infty}) is continuous, {g}_{i}(s)>0 for all s\in [a,b], for i=1,2.
(H_{4}):{f}_{i}:[0,+\mathrm{\infty})\times [0,+\mathrm{\infty})\to [0,+\mathrm{\infty}) is continuous, for i=1,2.
(H_{5}): There exist continuous functions {\mathrm{\Phi}}_{i}:[a,b]\to [0,+\mathrm{\infty}) and constants 0<{c}_{i}<1, a\le {a}_{i}<{b}_{i}\le b such that for every i=1,2,
and
We work in the space C[a,b]\times C[a,b] endowed with the norm
where {\parallel w\parallel}_{\mathrm{\infty}}:={max}_{t\in [a,b]}w(t).
Set c=min\{{c}_{1},{c}_{2}\} and let us define
and consider the cone K in C[a,b]\times C[a,b] defined by
which is a normal cone with d=1.
Under our assumptions it is routine to check that the integral operator
leaves K invariant and is completely continuous.
Now we present our main result concerning the existence of positive solutions for the system (3.1).
Theorem 3.1
Assume that the assumptions (H_{1})(H_{5}) hold and moreover:
(H_{6}):There exist constants{B}_{1},{B}_{2}>0such that for everyi=1,2, {f}_{i}(\cdot ,\cdot )is nondecreasing on[0,{B}_{1}]\times [0,{B}_{2}] (that is, if({u}_{1},{u}_{2}),({v}_{1},{v}_{2})\in {\mathbb{R}}^{2}with0\le {u}_{i}\le {v}_{i}\le {B}_{i}fori=1,2, then{f}_{i}({u}_{1},{u}_{2})\le {f}_{i}({v}_{1},{v}_{2})fori=1,2).
(H_{7}):For everyM>0there exists\rho =\rho (M)>0such that, for everyi=1,2,
Then the system (3.1) has at least one positive solution in K provided that
where
Proof
Due to (3.2) we can fix {\beta}_{i}\in (0,{B}_{i}), i=1,2, such that
On the other hand, for M>max\{\frac{1}{{\lambda}_{1}{\gamma}_{1,\ast}},\frac{1}{{\lambda}_{2}{\gamma}_{2,\ast}}\} let \rho =\rho (M)>0 as in (H_{7}) and fix R<min\{\frac{1c}{1+c}\cdot {\beta}_{1},\frac{1c}{1+c}\cdot {\beta}_{2},\rho \}.
Let us check that the assumptions of Theorem 2.3 are satisfied with
and
Claim 1. B[\beta ,R]\subset K and T\beta \u2aaf\beta .
Since β is constant and R<min\{\frac{1c}{1+c}\cdot {\beta}_{1},\frac{1c}{1+c}\cdot {\beta}_{2}\} a direct computation shows that B[\beta ,R]\subset K. Now, from (3.3) it follows for each t\in [a,b] and i=1,2
Moreover, since {\parallel {\beta}_{i}{T}_{i}\beta \parallel}_{\mathrm{\infty}}\le {\beta}_{i}, i=1,2, and taking into account (3.3) we have for t\in [{a}_{i},{b}_{i}] and i=1,2,
As a consequence, we have T\beta \u2aaf\beta, and the claim is proven.
Claim 2. T is nondecreasing on the set\{x\in K:x\u2aaf\beta \}.
Let u=({u}_{1},{u}_{2}),v=({v}_{1},{v}_{2})\in K be such that 0\le {u}_{i}(t)\le {v}_{i}(t)\le {\beta}_{i} for all t\in [a,b] and i=1,2. Since f is nondecreasing in [0,{\beta}_{1}]\times [0,{\beta}_{2}] we have for all t\in [a,b] and i=1,2,
Moreover, for all t\in [{a}_{i},{b}_{i}], r\in [0,1] and i=1,2,
therefore {min}_{t\in [{a}_{i},{b}_{i}]}([{T}_{i}v](t)[{T}_{i}u](t))\ge c{\parallel {T}_{i}v{T}_{i}u\parallel}_{\mathrm{\infty}}, i=1,2, so Tu\u2aafTv, and since \mathcal{P}\subset \{x\in K:x\u2aaf\beta \}, T is also nondecreasing on \mathcal{P}.
Claim 3.{\overline{K}}_{R}\subset Vand{i}_{K}(T,V)=0.
Firstly, note that since R<\rho then we have {\overline{K}}_{R}\subset {K}_{\rho}\subset V.
Now let e(t)\equiv 1 for t\in [a,b]. Then (e,e)\in K and we are going to prove that
If not, there exist ({u}_{1},{u}_{2})\in \partial V and \mu \ge 0 such that ({u}_{1},{u}_{2})=T({u}_{1},{u}_{2})+\mu (e,e).
Without loss of generality, we can assume that for all t\in [{a}_{1},{b}_{1}] we have
Then, for t\in [{a}_{1},{b}_{1}], we obtain
Thus, we obtain \rho ={min}_{t\in [{a}_{1},{b}_{1}]}u(t)>\rho +\mu \ge \rho, a contradiction.
Therefore by Proposition 2.2 we have {i}_{K}(T,V)=0 and the proof is finished. □
Remark 3.2
The following condition, similar to the one given in [7], implies (H_{7}) and it is easier to check.
{({\mathrm{H}}_{7})}^{\ast}: For every i=1,2, {lim}_{{u}_{i}\to +\mathrm{\infty}}\frac{{f}_{i}({u}_{1},{u}_{2})}{{u}_{i}}=+\mathrm{\infty}, uniformly w.r.t. {u}_{j}\in [0,\mathrm{\infty}), j\ne i.
Remark 3.3
In order to deal with negative kernels {k}_{i}(t,s)<0 we can require conditions (H_{2}), (H_{3}), and (H_{5}) on the absolute value of the kernel such that {k}_{i}(t,s)>0 and conditions (H_{4}), (H_{6}), and (H_{7}) on sgn({k}_{i})\cdot {f}_{i}.
As an illustrative example, we apply our results to the system of ODEs
with the BCs
To the system (3.4)(3.5) we associate the system of integral equations
where the Green’s functions are given by
and
The Green’s function {k}_{1} was studied in [28] were it was shown that we may take (with our notation)
The choice of [{a}_{1},{b}_{1}]=[0,1] gives
The kernel {k}_{2} was extensively studied in [28], [29] and is more complicated to be dealt with, due to the presence of the nonlocal term in the BCs. In this case we may take
The choice, as in [29], of [{a}_{2},{b}_{2}]=[0,{b}_{2}], where
leads to
We now fix, as in [28], \eta =1/2, \xi =1/4. This gives {b}_{2}=4/7 and
Furthermore take
In the case of the nonlinearities (3.9), we can choose {B}_{1}={B}_{2}=\pi /2. We observe that condition {({\mathrm{H}}_{7})}^{\ast} holds, we note that c=min\{{c}_{1},{c}_{2}\}=1/2 and that
As a consequence, by means of Theorem 3.1, we obtain a nonzero solution of the system (3.4)(3.5) for every {\lambda}_{1},{\lambda}_{2}\in (0,\mathrm{\infty}).
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Acknowledgements
The authors would like to thank the anonymous referee for his/her valuable comments, which have improved the correctness and the presentation of the manuscript. A Cabada was partially supported by Ministerio de Educación y Ciencia, Spain, and FEDER, Projects MTM201015314 and MTM201343014P, JA Cid was partially supported by Ministerio de Educación y Ciencia, Spain, and FEDER, Project MTM201343404P and G Infante was partially supported by G.N.A.M.P.A.  INdAM (Italy). This paper was partially written during a visit of G Infante to the Departamento de Análise Matemática of the Universidade de Santiago de Compostela. G Infante is grateful to the people of the aforementioned Departamento for their kind and warm hospitality.
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Cabada, A., Cid, J.Á. & Infante, G. A positive fixed point theorem with applications to systems of Hammerstein integral equations. Bound Value Probl 2014, 254 (2014). https://doi.org/10.1186/s1366101402548
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DOI: https://doi.org/10.1186/s1366101402548
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