Hindawi Publishing Corporation Boundary Value Problems Volume 2007, Article ID 38230, 12 pages doi:10.1155/2007/38230 Research Article Existence of Positive Solutions for Boundary Value Problems of Nonlinear Functional Difference Equation with p-Laplacian Operator S. J. Yang, B. Shi, and D. C. Zhang Received 18 March 2007; Accepted 23 May 2007 Recommended by Raul Manasevich The existence of positive solutions for boundary value problems of nonlinear functional difference equations with p-Laplacian operator is investigated. Sufficient conditions are obtained for the existence of at least one positive solution and two positive solutions. Copyright © 2007 S. J. Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 1. Introduction In recent years, boundary value problems of differential and difference equations have been studied widely and there are many excellent results (see Erbe and Wang [1], Grimm and Schmitt [2], Gustafson and Schmitt [3], Weng and Jiang [4], Weng and Tian [5], Wong [6], and Yang et al. [7]). Weng and Guo [8] considered two-point boundary value problem of a nonlinear functional difference equation with p-Laplacian operator ΔΦ p Δx(t) + r(t) f xt = 0, x0 = ϕ ∈ C , + t ∈ [0,T], Δx(T + 1) = 0, (1.1) where Φ p (u) = |u| p−2 u, p > 1, φ(0) = 0, C + = {ϕ | ϕ ∈ C, ϕ(k) ≥ 0, k ∈ [−τ,0]}. Ntouyas et al. [9] investigated the existence of solutions of a boundary value problem for functional differential equations x (t) = f t,xt ,x (t) , t ∈ [0,T], α0 x0 − α1 x (0) = φ, β0 x(T) + β1 x (T) = A, (1.2) 2 Boundary Value Problems where f : [0,T] × Cr × Rn → Rn is a continuous function, ϕ ∈ Cr , A ∈ Rn , Cr = C([−r,0], Rn ). Let R+ = {x | x ∈ R, x ≥ 0 }, [a,b] = {a,...,b}, [a,b) = {a,...,b − 1}, [a, ∞) = {a,a + 1,... } (1.3) for a,b ∈ N and a < b. For τ,T ∈ N and 0 τ < T, we define Cτ = ϕ | ϕ : [−τ,0] −→ R , C+τ = ϕ ∈ Cτ | ϕ(ϑ) ≥ 0, ϑ ∈ [−τ,0] . (1.4) Then Cτ and C+τ are both Banach spaces endowed with the max-norm ϕτ = max ϕ(k). (1.5) k∈[−τ,0] For any real function x defined on the interval [−τ,T] and any t ∈ [0,T], we denote by xt an element of Cτ defined by xt (k) = x(t + k), k ∈ [−τ,0]. In this paper, we consider the following nonlinear difference boundary value problems: ΔΦ p Δx(t) + r(t) f x(t),xt = 0, α0 x0 − α1 Δx(0) = h, t ∈ [1,T], t ∈ [−τ,0], (1.6) β0 x(T + 1) + β1 Δx(T + 1) = A, where Φ p (u) = |u| p−2 u, p > 1, q > 1 are positive constants satisfying 1/ p + 1/q = 1, Δx(t) = x(t + 1) − x(t), f : R × Cτ → R is a continuous function, h ∈ C+τ and h(t) ≥ h(0) ≥ 0, t ∈ [−τ,0], A ∈ R+ , α0 , α1 , β0 < β1 are nonnegative real constants such that α0 β0 T + α0 β1 + α1 β0 = 0. (1.7) At this point, it is necessary to make some remarks on the first boundary condition in (1.6). This condition is a generalization of the classical condition α0 x(0) − α1 Δx(0) = c (1.8) from ordinary difference equations. Here this condition connects the history x0 with the single value Δx(0). This is suggested by the well posedness of the BVP (1.6), since the function f depends on the terms xt and x(t). The case α0 = 0 must be treated separately, since in this case, the BVP (1.6) is not well posed. Indeed, if α0 = 0, the first boundary condition yields −α1 Δx(0) = h, (1.9) S. J. Yang et al. 3 where now h must be a constant in R and α1 = 0, because of (1.7). In this case, we consider the next boundary conditions instead of the two boundary conditions in (1.6): x0 = x(0), −α1 Δx(0) = h, (1.10) β0 x(T) + β1 Δx(T + 1) = A. As usual, a sequence {u(−τ),...,u(T + 2)} is said to be a positive solution of BVP (1.6) if it satisfies (1.6) with u(k) > 0 for k ∈ {1,...,T + 1}. We will need the following well-known lemma (See Guo [10]). Lemma 1.1. Assume that X is a Banach space and K ⊂ X is a cone in X. Ω1 , Ω2 are two open sets in X with 0 ∈ Ω1 ⊂ Ω2 . Furthermore, assume that Ψ : K ∩ (Ω2 \ Ω1 ) → K is a completely continuous operator and satisfies one of the following two conditions: (1) Ψx x for x ∈ K ∩ ∂Ω1 , Ψx ≥ x for x ∈ K ∩ ∂Ω2 ; (2) Ψx x for x ∈ K ∩ ∂Ω2 , Ψx ≥ x for x ∈ K ∩ ∂Ω1 . Then Ψ has a fixed point in K ∩ (Ω2 \ Ω1 ). 2. Main results Suppose that x(t) is a solution of BVP (1.6). If h(0) = 0, then (i) if α0 = 0, β1 = 0, ⎧ t −1 T ⎪ ⎪ ⎪ ⎪ Φq r(n) f x(n),xn ⎪ ⎪ ⎪ n =m ⎪ m=0 ⎪ ⎪ ⎪ ⎪ α1 ⎪ ⎪ ⎪ x(1) ⎪ ⎨ α0 + α1 x(t) = ⎪ ⎪ α1 Δx(0) + h(t) ⎪ ⎪ ⎪ ⎪ ⎪ α0 ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ β1 − β 0 1 ⎪ ⎪ ⎩ A+ x(T + 1) β1 β1 if t ∈ [1,T + 1], if t = 0, (2.1) if t ∈ [−τ,0), if t = T + 2; (ii) if α0 = 0, β1 = 0, ⎧ T t −1 ⎪ ⎪ ⎪ ⎪ Φq r(n) f x(n),xn ⎪ ⎪ ⎪ ⎪ n =m m=0 ⎪ ⎪ ⎪ ⎪ α1 ⎪ ⎪ ⎪ x(1) ⎨ x(t) = ⎪ α0 + α1 ⎪ ⎪ α1 Δx(0) + h(t) ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ α0 ⎪ ⎪ ⎪1 ⎪ ⎪ ⎪ ⎩ A β0 if t ∈ [1,T], if t = 0, (2.2) if t ∈ [−τ,0), if t = T + 1; 4 Boundary Value Problems (iii) if α0 = 0, β1 = 0, ⎧ T t −1 ⎪ ⎪ ⎪ ⎪ Φ r(n) f x(n),x ⎪ q n ⎪ ⎪ ⎪m=0 n =m ⎪ ⎪ ⎨ x(t) = ⎪x(1) + 1 h ⎪ α1 ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ β1 − β 0 1 ⎪ ⎪ x(T + 1) ⎩ A+ β1 β1 if t ∈ [1,T + 1], if t ∈ [−τ,0], (2.3) if t = T + 2; (iv) if α0 = 0, β1 = 0, ⎧ T t −1 ⎪ ⎪ ⎪ ⎪ Φq r(n) f x(n),xn ⎪ ⎪ ⎪ ⎪ n =m ⎪m=0 ⎪ ⎨ x(t) = ⎪x(1) + 1 h ⎪ ⎪ α1 ⎪ ⎪ ⎪ ⎪ 1 ⎪ ⎪ A ⎪ ⎩ β0 if t ∈ [1,T], if t ∈ [−τ,0], (2.4) if t = T + 2. We only prove (i), the proofs of (ii)–(iv) are similar and we will omit them. Assume that f ≡ 0, then BVP (1.6) may be rewritten as ΔΦ p Δx(t) = 0, α0 x0 − α1 Δx(0) = h, t ∈ [1,T], t ∈ [−τ,0], (2.5) β0 x(T + 1) + β1 Δx(T + 1) = A. Assume that x(t) is a solution of system (2.5), then ⎧ ⎪ ⎪ 0 ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎨1 if t ∈ [0,T + 1], x(t) = ⎪ α h(t) if t ∈ [−τ,0), 0 ⎪ ⎪ ⎪ ⎪ 1 ⎪ ⎪ ⎪ ⎩ A β1 (2.6) if t = T + 2. Assume that x(t) is a solution of BVP (1.6). Let u(t) = x(t) − x(t). Then for t ∈ [1,T + 1], we have u(t) ≡ x(t), and ⎧ t −1 T ⎪ ⎪ ⎪ ⎪ Φq r(n) f u(n) + x(n),un + xn ⎪ ⎪ ⎪ ⎪ n =m ⎪m=0 ⎪ ⎨ u(t) = ⎪ α1 u(1) ⎪ α0 + α1 ⎪ ⎪ ⎪ ⎪ ⎪ β 1 − β0 ⎪ ⎪ ⎪ u(T + 1) ⎩ β1 if t ∈ [1,T + 1], if t ∈ [−τ,0], if t = T + 2. (2.7) S. J. Yang et al. 5 Let u = max u(t), t ∈[−τ,T+2] E = y | y : [−τ,T + 2] −→ R , K = y | y ∈ E : y(t) = α1 y(1) for t ∈ [−τ,0], α0 + α1 (2.8) β1 − β0 y for t ∈ [1,T + 2] . β1 (T + 1) y(t) ≥ Then E is a Banach space endowed with norm · and K is a cone in E. For y ∈ K, we have y(t) = (α1 /(α0 + α1 ))y(1) for t ∈ [−τ,0]. So, y = max y(t) = max y(t). t ∈[−τ,T+2] (2.9) t ∈[1,T+2] Define an operator Ψ : K → E, ⎧t−1 T ⎪ Φ r(n) f y(n) + x(n), y + x ⎪ q n n = 0 = m m n ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎨ α1 if t ∈ [1,T + 1], Ψy(t) = ⎪ α0 + α1 Ψy(1) if t ∈ [−τ,0], ⎪ ⎪ ⎪ ⎪ ⎪ β 1 − β0 ⎪ ⎪ ⎩ Ψy(T + 1) (2.10) if t = T + 2. β1 Then we may transform our existence problem of BVP (1.6) into a fixed point problem of the operator (2.10). By (2.10), we have Ψy = (Ψy)(T + 1) = (T + 1)Φq T m=0 T n =0 Φq T n =m r(n) f y(n) + x(n), yn + xn r(n) f y(n) + x(n), yn + xn (2.11) . Lemma 2.1. Ψ(K) ⊂ K. Proof. If t ∈ [−τ,0], then Ψy(t) = (α1 /(α0 + α1 ))Ψy(1). If t ∈ [1,T + 1], then by (2.10) and (2.11), we have Ψy(t) ≥ Φq T n =0 r(n) f y(n) + x(n), yn + xn β1 − β0 1 Ψy ≥ Ψy . ≥ T +1 β1 (T + 1) (2.12) 6 Boundary Value Problems If t = T + 2, then Ψy(T + 2) = β1 − β0 β1 − β0 Ψy(T + 1) ≥ Ψy . β1 β1 (T + 1) (2.13) So, by the definition of K, we have Ψ(K) ⊂ K. Lemma 2.2. Ψ : K → K is completely continuous. Proof. Notice that yn + xn = (y(n − τ) + x(n − τ),..., y(n) + x(n)). So f : Rτ+2 → R. Then by [10, Theorem 2.6, page 33], f is completely continuous. Hence, Ψ is completely con tinuous. In this paper, we always assume that (H1 ) Tn=τ+1 r(n) > 0, (H2 ) f : R+ × C+τ → R+ hold. Then we have the following main results. Theorem 2.3. Assume that (H1 ), (H2 ) hold. Then BVP (1.6) has at least one positive solution if the following conditions are satisfied: (H3 ) there exist ρ1 > 0, such that if ϕ ρ1 + ρ0 , then f ϕ(n),ϕn bρ1 p −1 ; (2.14) (H4 ) there exists ρ2 > ρ1 + 2, such that if ϕ ≥ ρ2 , then f ϕ(n),ϕn ≥ Bρ2 p −1 (2.15) or (H5 ) there exists 0 < r1 < ρ1 , such that if ϕ ≥ r1 , then f ϕ(n),ϕn ≥ Br1 p −1 ; (2.16) (H6 ) there exists R1 > ρ2 , such that if ϕ R1 + ρ0 , then f ϕ(n),ϕn BR1 p −1 , (2.17) where ρ0 = h τ α0 , b= 1 (T + 1)Φq T n=0 r(n) , B= Φq 1 T n=0 r(n) . (2.18) Theorem 2.4. Assume that (H1 ), (H2 ) hold. Then BVP (1.6) has at least one positive solution if one of the following conditions is satisfied: p −1 p −1 (H7 ) limsupϕn τ →0 (f (ϕ(n),ϕn)/ ϕn τ )<m p−1 , liminf ϕn τ →∞ (f (ϕ(n),ϕn)/ ϕn τ )> M p−1 , h(ϑ) = 0,ϑ ∈ [−τ,0]; p −1 p −1 (H8 ) liminf ϕn τ →0 (f (ϕ(n),ϕn)/ ϕn τ )>M p−1 , limsupϕn τ →∞ (f (ϕ(n),ϕn)/ ϕn τ )< p −1 m , S. J. Yang et al. 7 where m= 1 (T + 1)Φq T n=0 r(n) β1 (T + 1) . M= T β1 − β0 Φ q n=τ+1 r(n) , (2.19) Theorem 2.5. Assume that (H1 ), (H2 ) hold. Then BVP (1.6) has at least two positive solutions if the conditions (H3 )–(H5 ) or (H3 ), (H4 ), and (H6 ) hold. Theorem 2.6. Assume that (H1 ), (H2 ) hold. Then BVP (1.6) has at least three positive solutions if the conditions (H3 )–(H6 ) hold. 3. Proofs of the theorems Proof of Theorem 2.3. Assume that (H3 ) and (H4 ) hold. For every y ∈ K ∩ ∂Ωρ1 , y = ρ1 , y + x y + x ρ1 + ρ0 , then by (2.10) and (H3 ), Ψy = T m=0 T m=0 Φq n =m Φq T T n =m r(n) f y(n) + x(n), yn + xn r(n) bρ1 p −1 bρ1 (T + 1)Φq T n =0 (3.1) r(n) = ρ1 = y . For every y ∈ K ∩ ∂Ωρ2 , y = ρ2 , y + x = max{ρ2 ,ρ0 } ≥ ρ2 , then by (2.10) and (H4 ), Ψy = T m=0 T ≥ m=0 Φq n =m Φq T T n =0 r(n) f y(n) + x(n), yn + xn n =m ≥ Bρ2 Φq T r(n) Bρ2 p −1 (3.2) r(n) = ρ2 = y . So by (3.1), (3.2) and Lemma 1.1, there exists one positive fixed point y1 of operator Ψ with y1 ∈ K ∩ (Ωρ2 \ Ωρ1 ). Assume that (H5 ) and (H6 ) hold. Similar to the above proof, we have that for every y ∈ K ∩ ∂Ωr1 , Ψy ≥ y , (3.3) Ψy y . (3.4) and for every y ∈ K ∩ ∂ΩR1 , So by (3.3) and (3.4), there exists one positive fixed point y2 of operator Ψ with y2 ∈ K ∩ (ΩR1 \ Ωr1 ). Consequently, x1 = y1 + x or x2 = y2 + x is a positive solution of BVP (1.6). 8 Boundary Value Problems Proof of Theorem 2.4. Assume that (H7 ) holds. By h(ϑ) = 0, ϑ ∈ [−τ,0], we have x(n) = 0 for n ∈ [−τ,T + 1]. From f ϕ(n),ϕn < m p −1 , limsup p−1 ϕn ϕn τ →0 τ (3.5) there exists a constant ρ1 > 0, such that for ϕn τ < ρ1 , p −1 f ϕ(n),ϕn mϕn τ . (3.6) Let Ωρ = { y ∈ K | y < ρ}. For every y ∈ K ∩ ∂Ωρ1 , yn τ y ρ1 , then by (2.10) and (3.6), Ψy = T m=0 T m=0 Φq T n =m Φq T n =m r(n) f y(n), yn T m=0 Φq T n =m r(n)m p −1 r(n)m p−1 y p−1 m(T + 1) y Φq T n =0 p −1 yn τ (3.7) r(n) = y . Furthermore, by f ϕ(n),ϕn liminf ϕn τ →∞ p −1 ϕn > M p −1 , (3.8) τ there exists a positive constant ρ2 > ρ1 , such that for ϕn τ ≥ ((β1 − β0 )/β1 (T + 1))ρ2 , p −1 f ϕ(n),ϕn ≥ M ϕn τ . (3.9) For y ∈ K, we have y(t) ≥ ((β1 − β0 )/β1 (T + 1)) y for t ∈ [1,T + 2]. So, if n ∈ [τ + 1,T + 1], then yn ≥ β1 − β0 y = β1 − β0 ρ2 . τ β1 (T + 1) (3.10) β1 (T + 1) For y ∈ K ∩ ∂Ωρ2 , by (2.10) and (3.9), Ψy = ≥ T m=0 Φq T m=τ+1 = T n =m Φq r(n) f y(n), yn T n =m ≥ m=τ+1 p −1 r(n) M yn τ M β1 − β0 y Φ q β1 (T + 1) T n=τ+1 T Φq ≥ Φq T n =m T r(n) f y(n), yn M β1 − β0 r(n) y β1 (T + 1) n=τ+1 p −1 r(n) = y . (3.11) S. J. Yang et al. 9 So, by (3.7), (3.11), and Lemma 1.1, there exists a positive fixed point y3 of operator Ψ with y3 ∈ K ∩ (Ωρ2 \ Ωρ1 ), such that 0 < ρ1 y ρ2 . (3.12) Assume that (H8 ) holds. From f ϕ(n),ϕn > M p −1 , liminf p−1 ϕn τ ϕn τ →0 (3.13) there exists a constant ρ1 > 0, such that for ϕn τ < ρ1 , p −1 f ϕ(n),ϕn ≥ M ϕn τ . (3.14) For every y ∈ K ∩ ∂Ωρ1 , yn τ y ρ1 , then by (2.10), (3.10), and (3.14), Ψy = ≥ T m=0 Φq T n =m T m=τ+1 Φq r(n) f y(n) + x(n), yn + xn T n =m r(n) M y τ M β1 − β0 ≥ y Φ q β1 (T + 1) p −1 ≥ T ≥ m=τ+1 T m=τ+1 Φq Φq T T n =m r(n) f y(n), yn M β1 − β0 r(n) y β1 (T + 1) n =m p −1 T n=τ+1 r(n) = y . (3.15) Furthermore, by f ϕ(n),ϕn < m p −1 , limsup p−1 ϕn τ ϕn τ →∞ (3.16) there exists a positive constant N > max{ρ1 , hτ }, such that for ϕn τ ≥ N, p −1 f ϕ(n),ϕn mϕn τ . (3.17) Let ρ2 = N + 2 h τ α0 + m−1 max m ρ2 + h τ α0 , Φq max f ϕ(n),ϕn : ϕn τ ρ2 + h τ α0 . (3.18) 10 Boundary Value Problems For y ∈ K ∩ ∂Ωρ2 , by (2.10), (3.17), Ψy = T m=0 Φq T n =m (T + 1)Φq r(n) f y(n) + x(n), yn + xn T n =0 (T + 1)Φq r(n) f y(n) + x(n), yn + xn (T + 1)Φq n =0 + yn τ >N+hτ /α0 T r(n) f y(n) + x(n), yn + xn yn τ N+hτ /α0 r(n) h τ h τ , Φq max f ϕ(n),ϕn : ϕn τ ρ2 + × max m ρ2 + α0 ρ2 = y . α0 (3.19) So, by (3.15), (3.19), and Lemma 1.1, there exists a positive fixed point y4 of operator Ψ with y4 ∈ K ∩ (Ωρ2 \ Ωρ1 ), such that 0 < ρ1 y ρ2 . (3.20) Hence, x3 (t) = y3 (t) + x(t) or x4 (t) = y4 (t) + x(t) is a positive solution of BVP (1.6). If h(0) = 0, then by the transformation z=x− h(0) , α0 (3.21) the BVP (1.6) is reduced to the following BVP: h(0) h(0) ,zt + = 0, t ∈ [1,T] α0 α0 α0 z0 − α1 Δz(0) = h = h − h(0), t ∈ [−τ,0] ΔΦ p Δz(t) + r(t) f z(t) + β0 x(T + 1) + β1 Δx(T + 1) = A + (3.22) β0 h(0) , α0 where obviously h(0) = 0. Similar to the above proof, we can prove that BVP (3.22) has at least one positive solution. Consequently, BVP (1.6) has at least one positive solution. Proof of Theorem 2.5. By (3.1)–(3.3) and Lemma 1.1, or by (3.1), (3.2), (3.4), and Lemma 1.1, it is easy to see that BVP (1.6) has two positive solutions. S. J. Yang et al. 11 Proof of Theorem 2.6. By (3.1)–(3.4) and Lemma 1.1, it is easy to see that BVP (1.6) has three positive solutions. 4. An example Consider BVP ΔΦ3/2 Δx(t) + t f x(t),xt = 0, x0 − Δx(0) = h, t ∈ [1,4], t ∈ [−2,0], (4.1) Δx(5) = 1, where h(t) = −t, for (ϕ(t),ϕt ) ∈ R+ × C+τ , ⎧ ⎪ 10−2 , ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ 44 × 10−4 ⎪ ⎪ ⎪ (s − 3)2 + 10−2 , ⎪ ⎪ 49 ⎨ f ϕ(t),ϕt = ⎪7956 × 10−4 (s − 8), ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ 10−2 100 − 19(s − 52)2 , ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎩1, 0 < s 3, 3 < s 8, 8 < s 9, (4.2) 9 < s 52, 52 < s, where s = ϕ. In BVP (4.1), p = 3/2, q = 3, T = 4, τ = 2, r(t) = t, α0 = 1, α1 = 1, β0 = 0, β1 = 1, A = 1, ρ0 = 2, b = 0.02, B = 0.1. Let r1 = 1, ρ1 = 6, ρ2 = 9, R1 = 50. Then by simple computation, we can show that ⎧ p −1 ⎪ = 0.01 if s ≥ r1 = 1, ⎪ ⎪≥ Br1 ⎪ p −1 ⎪ ⎨ bρ1 = 1.44 × 10−2 if s ρ1 + ρ0 = 8, f ϕ(t),ϕt ⎪ p−1 ⎪ ≥ Bρ2 = 0.81 if s ≥ ρ2 = 9, ⎪ ⎪ ⎪ p −1 ⎩ Br1 =1 if s R1 + ρ0 = 52, ⎧ ⎪ ⎪ if t ∈ [0,T + 1], ⎪ ⎨0 x(t) = ⎪−t ⎪ ⎪ ⎩1 (4.3) if t ∈ [−τ,0), if t = T + 2. By Theorem 2.6, BVP (4.1) has three positive solutions x1 = y1 + x, x2 = y2 + x, x3 = y3 + x, (4.4) with y1 ∈ K ∩ Ωρ1 \ Ωr1 , y2 ∈ K ∩ Ωρ2 \ Ωρ1 , y3 ∈ K ∩ ΩR1 \ Ωρ2 . 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Guo, Nonlinear Functional Analysis, Shandong Scientific Press, Jinan, China, 1985. S. J. Yang: Institute of Applied Mathematics, Naval Aeronautical Engineering Institute, Yantai 264001, Shandong, China Email address: yangshujie@163.com B. Shi: Institute of Applied Mathematics, Naval Aeronautical Engineering Institute, Yantai 264001, Shandong, China Email address: baoshi781@sohu.com D. C. Zhang: Institute of Applied Mathematics, Naval Aeronautical Engineering Institute, Yantai 264001, Shandong, China Email address: dczhang1967@tom.com