The paper deals with the existence of positive solutions of nonlocalp (x)-Kirchhoff hyperbolic systems with zero Dirichlet boundary conditions in bounded domain Ω ⊂ RN by using sub-super solutions method combined with a comparison principle. Moreover, the numerical example is presented to illustrate the stationary case.
Elliptic differential equations (PDEs) are of crucial importance in modelization and description of a wide variety of phenomena such as fluid dynamics, quantum physics, sound, heat, electrostatics, diffusion, gravitation, chemistry, biology, simulation of airplane, calculator charts and time prediction. PDEs are equations involving functions of several variables and their derivatives and model multidimensional systems generalizing ODEs (ordinary differential equations), which deal with functions of a single variable and their derivatives. In contrary to ODEs, there is no general result such as the Picard-Lindelöf theorem for PDEs to settle the existence and uniqueness of solutions. Malgrange-Ehrenpreis theorem states that linear partial differential equations with constant coefficients always have at least one solution. Another powerful and general result in case of polynomial coefficients is the Cauchy-Kovalevskaya theorem ensuring the existence and uniqueness of a locally analytic solution for PDEs with coefficients that are analytic in the unknown function and its derivatives. Otherwise, the existence of solutions is not guaranteed at all for non-analytic coefficients even if they have derivatives of all orders: see [18]. Given the rich variety of PDEs there is no general theory of solvability. Instead, researches focus on particular PDEs that are important for applications. It would be desirable when solving PDEs to prove the existence and uniqueness of a regular solution that depends on the initial data already given in the problem, but perhaps we are asking too much. A solution with enough smoothness is called a classical solution, but in most cases, as far as conservation laws are concerned, we cannot do so much, and only generalized or weak solutions are allowed. The point is this: looking for weak solutions allows us to investigate a larger class of candidates, so it is more reasonable to consider as separate the existence and the regularity problems. For various PDEs this is the best that can be done, and naturally nonlinear equations are more difficult than linear ones. In overall, we know too much about linear PDEs and in best cases we can express their solutions, but too little about nonlinear equations. For linear PDEs, various methods and techniques can use as separation of variables, method of characteristics, integral transform, change of variables, superposition principle or even finding a fundamental solution and taking a convolution product to get the solution. Moreover, the variational theories are the most accessible and useful methods for nonlinear PDEs. However, there are other non-variational techniques of use for nonlinear elliptic and parabolic PDEs such as monotonicity and fixed point methods, semigroup theory and sub-super solutions method that played an important role in the study of nonlinear boundary value problems for a long time. In addition, Scorza-Dragoni’s work in [13] was one of the earliest papers using a pair of ordered solutions of differential inequalities to establish the existence of solution to a given boundary value problem for a nonlinear second order ordinary differential equation. His work was followed later by Nagumo in [45] and [76] which inspired much work on both ordinary and PDEs during the decade of the sixties. Likewise, Knobloch in [19] introduced the sub-supersolution method to the study of periodic boundary value problems for nonlinear second order ordinary differential equations using Cesari’s method. Similar problems and techniques were studied in [27,34] and still assuming the sub- and supersolutions to be smooth solutions of differential inequalities. Thus, the SSM were also used to study Dirichlet and Neumann boundary value problems for semilinear elliptic problems in [10,20] and even for nonlinear boundary value problems in [28, 40] and also for systems of nonlinear ordinary differential equations in [21,22] and [29]. The concept of weak sub- and supersolutions was first formulated by Hess and Deuel in [33,51] to obtain existence results for weak solutions of semilinear elliptic Dirichlet problems, and was subsequently continued by several authors (see, e.g., [3,11,46,60,61,64,70,72,73] and [74]). The study of differential equations and variational problems with nonstandardp (x)- growth conditions is a new and interesting topic. It arises from nonlinear elasticity theory, electrorheological fluids, etc. (see [7]). Many existence results have been obtained on this kind of problems, see for example [4,7,15,56–59,62,63] and [68]. In addition, in [4] a new class of anisotropic quasilinear elliptic equations with a power like variable reaction term has been investigated. In the last few years, the regularity and existence of solutions for differential equations with nonstandardp (x)-growth conditions have been studied, andp-Laplacian elliptic systems withp (x) = q (x) = p (a constant) have been archived in [41,65]. This work aims to study the existence of weak positive solutions for a new class of the system of differential equations with respect to the symmetry conditions by using sub-super solutions method. Motivated by the ideas introduced in ([59]) and the properties of Kirchhoff type operators in [59], it will be possible to study in this work the existence of positive solutions for hyperbolic system by using the sub- and super solutions techniques. So far, this is a new research topic for nonlocal problems. The outline of this paper is organized as follows. In Section 2, some preliminary results on the variable exponent Sobolev space are presented as well as the method of sub- and super solutions. Section 3 is devoted to state and prove the main results. Finally, a numerical example is presented to illustrate our stationary results.
Preliminaries, assumptions and statement of the problem
Plate problems and its history
The study of differential equations and variational problems with nonstandardp (x)-growth conditions is a new and interesting topic. It arises from nonlinear elasticity theory, electrorheological fluids, etc, (see [4–68]). Many existence results have been obtained on this kind of problems, see for example [56–58]. In [4–68], the authors studied the regularity of solutions for differential equations with nonstandardp (x)-growth conditions. This article is interested with thep (x)-Kirchhoff parabolic systems of the form
with
where Ω ⊂ RN (N ⩾ 3) is a bounded smooth domain withC2 boundary is a functions with
is calledp (x)-Laplacian,λ,λ1,λ2,μ1, andμ2 are positive parameters,
andM (t) is a continuous function.
Problem(1) is a generalization of a model introduced by Kirchhoff [71]. More precisely, Kirchhoff proposed a model given by the equation
whereρ,P0,h,E,L are constants. Such an equation extends the classical D’Alembert’s wave equation, by considering the effects of the changes in the length of the strings during the vibrations. In recent years, problems involving Kirchhoff type operators have been studied in many papers. It is possible to refer to ([10–24]), where the authors have used variational method and topological method to get the existence of solutions.
Preliminary results
In order to discuss problem(1), we need some theories on which we call variable exponent Sobolev space. Firstly we state some basic properties of spaces which will be used later (for details, see [68]). Let us define
We introduce the norm onLp(x) ( Ω) by
and
with the norm: ∀u ∈ W1,p(x) ( Ω) .
We denote by the closure of inW1,p(x) ( Ω) . Now, using Euler time scheme of problem(1), we obtain the following problems
whereNτ′ = T, 0 < τ′ < 1, and for 1 ≤ k ≤ N .
Proposition 1.(See [65]). The spacesLp(x) ( Ω) ,W1,p(x) ( Ω) and are separable and reflexive Banach spaces.
Throughout the paper, we will assume that:
(H1)M : [0, + ∞) → [m0,m∞] is a continuous and increasing function withm0> 0 ;
(H2) and 1< p- ≤ p+ ;
(H3)f,g,h,τ : [0, + ∞ [→ R areC1, monotone functions such that
(H4) for allL> 0 ;
(H5) and
Definition 1. If,We say that
if for all withφ ≥ 0,
where
Definition 2.(1) Ifuk, is called a weak solution of(3) if it satisfies
for all. withφ ≥ 0.
(2) We say that(u, v) is called a sub solution (respectively a super solution) of(3) if
and
Lemma 1.(See [48] Comparison principle) Let and( H1) holds. IfandThen
Lemma 2.(See [7]). Let (H1) hold. η > 0 and let u be the
unique solution of the problem in Ω
Set. Then, whenμ ≥ h, we haveand when μ < h, we havewhere C∗ and C∗ are positive constants dependingand m0.
Here and hereafter, we will use the notationd(x, ∂Ω) to denote the distance ofx ∈ Ω to denote the distance of Ω. Denoted(x) =d(x, ∂ Ω) and
Since∂ Ω isC2 regularly, there exists a constantδ ∈ ( 0, 1) such that and|∇ d(x)| = 1.
Denote
and
Obviously,
Considering
We have the following result
Lemma 3.(See [58]). If positive parameter η is large enough and ω is the unique solution of(2.2), then we have
For any θ ∈ (0, 1)there exists a positive constant C1 such that
There exists a positive constant C2 such that
Main result
In the following, when there is no misunderstanding, we always useCi to denote positive constants.
Theorem 1.Assume that the conditions (H1)-(H6) are satisfied. Then problem(3) has a positive solution when λ is large enough.
We shall establish Theorem 1 by constructing a positive subsolution(ϕk,ϕ1) and supersolution(zk,z1) of(1). such thatϕk ≤ zk andϕ1 ≤z1. that is, (ϕk, ϕ1) and(zk,z1) satisfies
and
for all withq ≥ 0. According to the sub-super solution method forp(x)-Kirchhoff type equations (see [48]), then(1) has a positive solution.
Step 1. We will construct a subsolution of(1). Let is small enough.
Denote
and
It is easy to see that, Denote
By some simple computations we can obtain
and
From(H4) there exists a positive constantL > 1 such that
Let then
Ifk′ is sufficiently large, from(7), we have for
Let then
From(8), we have
Since, there exists a positive constantC3 such that
Ifk′ is sufficiently large, let, then we have
Then
Since andf, h are monotone, whenλ is large enough we have
Combining(9) and(10), we can conclude that
Similarly
From(11) and(12), we can see that is a subsolution of problem(3).
Step 2. We will construct a supersolution of problem(3). We consider
where
We shall prove that (zk,z1) is a supersolution of problem(3). For withq ≥ 0, it is easy to see that
By (H6), forμ large enough, using Lemma 2.6, we have
Hence
Also
By (H4) , (H5) and Lemma 3, whenμ is sufficiently large, we have
Then
According to(15) and(16), we can conclude that (zk,z1) is a supersolution of problem(3).It only remains to prove thatϕk ≤ zk andϕ1 ≤ z1 .
In the definition ofv1 (x), let
We claim that
From the definition ofv1, it is easy to see that whend (x) = δ
and whend (x) ≥ δ .
Sincethere exists a point such that
Ifv1 (x0) - ϕk (x0) < 0, it is easy to see that 0<d (x) < δ and then
From the definition ofv1, we have
It is a contradiction to
Thus(17) is valid. Obviously, there exists a positive constantC3 such that
Since, according to the proof of Lemma 3, there exists a positive constantC4 such that for allθ ∈ (0, 1) .
Whenη ≥ λp+ is large enough, we have
According to the comparison principle, we have
From(17) and(18), whenη ≥ λp+andλ ≥ 1 is sufficiently large, we have for allx ∈ Ω .
According to the comparison principle, whenμ is large enough, we have for allx ∈ Ω .
Combining the definition ofv1 (x) and(19), it is easy to see that fpr allx ∈ Ω .
Whenμ ≥ 1 andλ is large enough, from Lemma 3, we can see that is large enough, then
is large enough. Similarly, we haveϕ1 ≤ z1. This completes the proof.
Numerical example of the stationary case
The first contribution of this work is to build a provably convergent discretization of the operator. The issue here is to ensure that the discretization convergence (in the limit of the discretization parameters going to zero) to the unique viscosity solution of the PDE. Simply using standard finite differences fails to converge, as shown below.
The appropriate notion of weak solutions for the PDE is provided by viscosity solutions. The only schemes which can be proven to converge to viscosity solutions are monotone schemes; these schemes satisfy the maximum principle at the discrete level. For the variationalp-Laplacian, Galerkin Finite Element methods could be used. But the game-theoretical version is not a divergence structure operator, so there is no natural version of weak solutions. Monotone schemes can be proven to converge for the game-theoreticalp-Laplacian. We prove convergence of the solution of the Wide Stencil finite difference schemes to the unique viscosity solution of the underlying equation.
The second contribution of this work is to build fast solvers forp-Laplacian. There are two reasonable ways to quantify the notion of a fast solver. The first notion of speed is absolute: The number of operations to solve the equation should be proportional to the problem size. The second notion of speed is relative: We compare the speed of the considered solvers to the speed of solvers for a related but easier problem. Here, it is natural to compare with the solution speed of the Laplace equation.
Explicit solvers are available and simple to implement, but they are not fast. Any monotone scheme can be solved using an iterative, explicit method. The explicit method can be interpreted as a Gauss-Seidel solver, or the forward Euler method for the equationut = Δp. However the time step for the Euler method is, whereh is the spatial resolution. The explicit method is not fast because the number of iterations required for it to converge tallies with, which increases with the problem size.
The proposed method is semi-implicit, with the implicit step given by solving the Laplace equation. The Laplace equation can be solved in operations, using Fast Fourier Transforms, or, using sparse linear algebra. Thus, with regard to the extent needed for our rather coarse analysis, both notions of speed have to be considered, provided the solution should be obtained in a finite, or indeed, a small number of iterations.
The setting for the PDEs
This work is concerned with the efficient numerical solution of a nonlinear, degenerate elliptic Partial Differential Equation (PDE), the normalized Infinity Laplacian. The PDE operator is given by
whereu (x) : Rd → R.
We also study a closely related PDE, the game theoreticalp-Laplacian, which interpolates between the 1-Laplacian,Δ1
and the infinity Laplacian,Δ∞. Expanding theΔ1 operator above leads to the identity
which we record for future use. The game theoreticalp-Laplacian is thep weighted average of the 1- and 1-Laplacians,
Standard finite difference solutions of the ∞-Laplacian. Boundary data is a |x|4/3 - |y|4/3, the computed solution is incorrect, with a singularity of the form |x| - |y| at the origin. (a) Surface Plot, (b) plot ofu (x, 0).
This is consistent with the definitions given in the probabilistic games interpretation. The normalized versions of the operators are also used in image processing. Special cases occur forp = 1 and 1, as above, and forp = 2 we obtain. Using the identity (1) we can also write
Equation(20) will be used forp ∈ [2, ∞). If the casep ∈ [1, 2] is considered, the equation above is not a positive combination of the operators. Instead, for the casep ∈ [1, 2], the corresponding representation would be a convex combination of the monotone discretization ofΔ1 and the Laplacian. Here, this work will focus on the case where the Infinity Laplace operator is active. The Dirichlet problem is considered for the operator, in a domain Ω ⊂ Rd, with a given right hand side functiong.
and
Hereg represents a running cost for a probabilistic game. Wheng = 0, the operator coincides with the variationalp-Laplacian. The relationship between the game theoreticalp-Laplacian and the variationalp-Laplacian is given below.
Failure of the standard finite difference scheme
In this section the need for a convergent scheme is motivated, by showing that the standard finite difference scheme fails to converge.
A natural scheme is given by standard finite differences, along with a small regularization for the norm of the gradient. For this, standard centered finite differences are used foruxx,uyy,ux,uy, with the symmetric scheme foruxy:
and similarly for theuy,uyy terms. In order to regularize the gradient, || ∇ u||2 with max(h2, || ∇ u||2) are replaced.
The solution with boundary conditions is computed corresponding to the exact Aronsson solution [Aro68]. The finite difference scheme presented above fails to converge, seeFig. 1. In this case, the solution has the form |x| - |y| in the center. In fact, it can be shown using symmetry considerations that |x| - |y| is an exact solution of the symmetric finite difference scheme. On the flat parts, the operator is zero, so only the corners should be checked. In fact,u (x,y) = |x| andu (x,y) = |y| are also exact solutions. While other discretizations are possible, which break this symmetry, several other simple consistent finite difference schemes are tried, and always it would be possible to find examples where they failed to converge.
Conclusion
In this work, the existence of positive solutions of nonlocalp (x)-Kirchhoff hyperbolic systems by using the sub and super solutions concept are proven. As well as, the numerical example is presented to illustrate the stationary results in bounded domains by using sub-super solutions method (SSM) combined with comparison principle which have been widely applied in many works (see for example [4, 62] and [69]). Validity of the Comparison Principle and of the SSM for local and nonlocal problems as the stationary Kirchhoff Equation was an important subject in the last few years, see for example ([41]) and ([7]), where the authors showed by giving different counterexamples that the simple assumptionM is increasing, and somewhere is enough to make the comparison principle and SSM hold false contradicting and clearing up some results in literature. Moreover, the two conditions thatM is nonincreasing andH is increasing turn out to be necessary and sufficient, at least for the validity of the Comparison Principle. It is worth to notice that in ([4]), Alves and Correa developed a new SSM for problem(1) to deal with the increasingM case. The result is obtained by using a kind of Minty-Browder Theorem for a suitable pseudomonotone operator, but instead of constructing a subsolution the authors assumed the existence of a whole family of functions which satisfy a stronger condition than just being subsolutions, the inconvenient is that these stronger conditions restrict the possible right hand sides in(1). Another SSM for nonlocal problems is obtained in ([4]) for a problem involving a nonlocal term with a Lebesgue norm, instead of the Sobolev norm appearing in(1). In our next study, we will try to apply an alternative approach using the variational principle which has been presented in ([30, 31] and [32]). As well as some ideas in ([49] and [78]) can be used to represent the nonlinear equations.
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