Cybernetics and Systems Analysis, Vol. 46,
No.
2, 2010
ANALYSIS AND CONTROL OF SECOND-ORDER
DIFFERENTIAL-OPERATOR INCLUSIONS WITH
+
-COERCIVE DAMPING
N. V. Zadoyanchuk
a
and P. O. Kasyanov
a
UDC 517.9
Second-order differential-operator inclusions with weakly coercive pseudomonotone mappings are
considered. Function-topological properties of a resolving operator are investigated. The results are
applied to mathematical models of the nonlinearized theory of viscoelasticity.
Keywords: second-order differential inclusion,
+
-coercive operator, optimal control, viscoelasticity.
INTRODUCTION
In investigating mathematical models of nonlinear processes and fields of the nonlinearized theory of viscoelasticity
and piezoelectrics and studying waves of different nature, the following scheme is often used: such a model is reduced to
some differential-operator inclusion or a multivariational inequality in an infinite-dimensional space [1–3]. Next, using some
method of approximation or other, the existence of a generalized solution of this problem is proved, constructive methods of
searching for approximate solutions are substantiated, and functional-topological properties of the resolving operator [2] are
studied. If the character of the mentioned process is evolutionary, its mathematical model is described with the help of a
second-order differential-operator inclusion [4–6]. In this case, relationships between key parameters of the original problem
provide definite properties for a multivalued (in the general case) mapping in the differential-operator scheme of
investigation. We note that, in the majority of works devoted to this line of investigation, rather stringent conditions
connected with uniform coercitivity, boundedness, and generalized pseudo-monotonicity are imposed on “damping” [4, 6].
As a rule, these conditions not only provide the existence of solutions for such problems but also guarantee the dissipation of
all solutions and sometimes the existence of a global compact attractor, which does not always naturally reflect the actual
behavior of the geophysical process or field being considered [7]. Therefore, the need arises for the investigation of
functional-topological properties of the resolving operator for a differential-operator inclusion that describe, in particular,
new wider classes of nonlinear processes and fields of the nonlinearized theory of viscoelasticity with an adequate essential
weakening of the above-mentioned properties of differential operators with corresponding applications to concrete
mathematical models.
In this work, problems of analysis and control of second-order differential-operator inclusions with weakly coercive
w
l
0
-pseudo-monotone mappings are considered. The dependence of solutions on functional parameters of a problem is
investigated, and an optimal control problem is considered. The results obtained are applied to mathematical models of the
nonlinearized theory of viscoelasticity.
PROBLEM STATEMENT
Let
V
0
and
Z
0
be real reflexive separable Banach spaces with the corresponding norms
|| ||
×
V
0
and
|| ||
×
Z
0
, and let
H
0
be a real Hilbert space whose scalar product is denoted by
(,)
××
and that is identified with its topologically conjugate space
H
0
*
. We assume that the embedding
VZ
00
Ì
is compact and dense and that the embedding
ZH
00
Ì
is continuous and
305
1060-0396/10/4602-0305
©
2010 Springer Science+Business Media, Inc.
a
Taras Shevchenko National University, Kiev, Ukraine,
[email protected]. Translated from
Kibernetika i Sistemnyi Analiz, No. 2, pp. 152–160, March–April 2010. Original article submitted September 15, 2009.
dense. We obtain the following chain of continuous and dense embeddings [2,8]:
VZHZV
00 000
ÌÌ ÌÌ
**
, where
Z
0
*
and
V
0
*
are corresponding spaces topologically conjugate with
Z
0
and
V
0
with the corresponding norms
|| ||
×
*
Z
0
and
|| || .
×
*
V
0
We
introduce the following denotations:
ST=[, ]t
,
< < <+¥t T
,
p ³ 2
,
q
pq
>+=1
11
1:
,
HLSH=
20
(; )
,
ZLSZ
p
= (; )
0
,
VLSV
p
= (; )
0
,
HLSH
*
=
20
(; )
,
ZLSZ
q
**
= (; )
0
,
VLSV
q
*
(; )=
*
0
,
WyVyV
¢
Î{}|
*
,
where
¢
y
is the derivative of an element
yVÎ
in the sense of
DSV
**
(; )
0
[2, 8]. Note that the embeddings
VZHZ VÌÌ Ì Ì
**
are continuous and dense. Moreover, the embedding
WZÌ
is compact [9,10], and the
embedding
WCSHÌ (; )
0
is continuous [8, 10].
It should also be noted that canonical pairings
áñ ´ ®
××
*
,:
V
VV R
0
00
and
áñ ´ ®
××
*
,:
Z
ZZ R
0
00
coincide on
HV
00
´
with the scalar product in
H
0
. Then the pairing
áñ ´®
××
*
,:
V
VV R
and, accordingly,
áñ ´®
××
*
,:
Z
ZZR
coincides on
HV´
with the scalar product in
H
, i.e., we have
áñ=áñ=áñ= =
ò
fu fu fu fu fs us ds
V
Z
S
,: , , (,) ((),())
,
fHÎ
,
uVÎ
.
Assume that
$
U
and
$
K
are separable locally convex linear topological spaces (LTSs),
UUÌ
$
and
KKÌ
$
are some
nonempty sets,
AV U: ´®
*
CV
u
()
and
CZ K C Z:()´®
*
u
are multivalued mappings with nonempty convex weakly
compact values in the corresponding spaces
V
*
and
Z
*
,
BV V: ®
*
is a linear operator,
fVÎ
*
, aHÎ
0
, and
bVÎ
0
are
arbitrary fixed elements.
We state the problem of investigating functional-topological properties of the resolving operator
Ku abf(,,,, )u
of
the following problem:
¢¢
+
¢
++ '
=
¢
=
ì
í
î
yAyuByCy f
yby a
(,)()(,),
() , () .
u
tt
(1)
Here,
Ku ab f yy CSV W y(,,,, ) (, ) (; ) |u =
¢
δ{
0
is a solution of problem (1), and the derivative
¢
y
of an element
y
is
understood in the sense of the space of distributions
DSV
**
(; )
0
.
Note that since the embedding
WCSHÌ (; )
0
is continuous, the initial conditions in problem (1) make sense.
CLASSES OF MULTIVALUED MAPPINGS
Let
Y
be some reflexive Banach space, let
Y
*
be its topologically conjugate space, let
áñ ´ ®
××
*
,:
Y
YYR
be a
pairing, and let
AY Y: Ã
*
be a strict multivalued mapping, i.e., we have
Ay()¹Æ" ÎyY
. For it, we define the upper
[(),] sup ,
()
Ay d
dAy
Y
ww
+
Î
ñ
and lower
[(),] inf ,
()
Ay d
dAy
Y
ww
-
Î
ñ
support functions, where
yY, w Î
, and also the upper
|| ( ) || sup || ||
()
Ay d
dAy
Y
+
Î
=
*
and lower
|| ( )|| inf || ||
()
Ay d
dAy
Y
-
Î
=
*
norms. Let us consider mappings
co AY Y: Ã
*
and
coAY Y:,
*
Ã
that are connected with
A
and are specified by the relationships
()()(())co coAy Ay=
and
(()) (())co coAy Ay=
, respectively, where
co ( ( ))Ay
is the weak closure of the convex envelope of the set
Ay()
in the space
Y
*
.
As is well known [2, 11], strict multivalued mappings
ABY Y,:Ã
*
have the following properties:
(1)
[(), ] [(), ] [(), ]Ay Ay Ayuu u u
12 1 2
+
+++
,
[(), ] [(), ]Ay Ayuu u
12 1
+
--
[(), ]Ay u
2 -
yY,,uu
12
;
(2)
[(),] [(), ]Ay Ayuu
+-
=- -
,
[() (),] [(),] [(),]
() () ()
Ay By Ay By+= +
+- +- +-
uuuyY, u
;
(3)
[(),] [ (),]
() ()
Ay Ayuu
+- +-
= co yY, u
;
(4)
[(),] ||()|| ||||
() ()
Ay Ay
Y
uu
+- +-
£
,
|| ( ) ( ) || || ( ) || || ( ) ||Ay By Ay By +
+++
yY
.
306
In particular, the inclusion
dAyÎco ( )
takes place if and only if we have
[(),] ,Ay d
Y
uu
+
³á ñ " Îu Y
.
If we have
aYYR(,):
××
´®
, then, for each
yYÎ
, a functional
Yay' wwa (, )
is positively homogeneous, convex,
and lower semicontinuous if and only if there is a strict multivalued mapping
AY Y: Ã
*
such that we have
ay Ay(, ) [ (), ]ww=
+
yY, w
.
Let
$
W
be some normalized space that is embedded into
Y
, let
$
X
be some separable LTS, and let
XXÌ
$
be some
nonempty set. Let us consider a parametrized multivalued mapping
AY X Y: ´
*
Ã
.
Hereafter,
yy
n
w
¾®¾
in
Y
will mean that
y
n
converges weakly to
y
in
Y
.
Definition 1. A strict multivalued mapping
AY X Y: ´
*
Ã
is called
· l
0
-quasimonotone on
$
WX´
if, for any sequence
{}ya WX
nnn
,
$
³
Ì´
0
such that
yy
n
w
¾®¾
0
in
$
W
,
aa
n
®
0
in
$
X
, and
dd
n
w
¾®¾
0
in
Y
*
as
n ®+¥
, where
dAya
nnn
Îco ( , ) n 1
, the inequality
lim ,
n
nn
Y
dy y
®¥
á-ñ£
0
0
implies the
existence of a subsequence
{}yd a
nn nk
kk k
,,
³1
from
{}yda
nnnn
,,
³1
for which we have
lim ,
k
nn
Y
dy
kk
®¥
á-ñ³w
[( , ), ]Ay a y Y
00 0
-"Î
-
ww
;
·
bounded if, for each
L > 0
and a set
DXÌ
bounded in the topology of the space
$
X
, there is some
l > 0
such that we
have
|| ( , )||Ayu l
+
£" δ £yu Y D y L
Y
, :|| ||
;
·
demiclosed if, for an arbitrary sequence
{}yu
nnn
,
³
Ì
0
YX´
such that
yy
n
®
in
Y
,
uu
n
®
0
in
$
X
, and
dd
n
w
¾®¾
0
in
Y
*
,
where
dAyu
nnn
Îco ( , ) n 1
, we have
dAyu
000
Îco ( , )
.
With each multivalued mapping
AY Y: Ã
*
, we associate a parametrized multivalued mapping
$
:AY X Y´
*
Ã
according to the following rule:
$
(, ) ()Ayu Ay=
,
yYÎ
,
uXÎ
.
Definition 2. A strict multivalued mapping
AY Y: Ã
*
is called
· l
0
-pseudo-monotone on
$
W
if the corresponding
$
:AY X Y´
*
Ã
is
l
0
-quasimonotone on
$
WX´
;
·
bounded if the corresponding mapping
$
:AY X Y´
*
Ã
is bounded.
MAIN RESULTS
Let us study functional-topological properties of the resolving operator of problem (1) that are connected with
closedness in definite topologies. The necessity of substantiation of such properties is connected with problems of control of
mathematical models of nonlinear geophysical processes and fields that are described with the help of problem (1) and with
the investigation of the dynamics of solutions of such problems.
THEOREM 1. Let
AV U C V:()´®
*
u
be
l
0
-quasimonotone on
WU´
and bounded, let
BV V: ®
*
be linear and
continuous, and let a multimapping
CZ K C Z:()´®
*
u
be bounded and demiclosed. In addition, let us consider a sequence
{}fabu V HVUK
mmmmmm
,,,,u
³
*
Ì´ ´´´
100
. We also assume that, for all
m ³ 1
, we have
(, )yy
mm
¢
Î Ku
mm
(, ,u
ab f
mmm
,,)
and that the following convergences take place:
ff
m
®
0
in
V
*
,
aa
m
®
0
in
H
0
,
bb
m
®
0
in
V
0
,
uu
m
®
0
in
$
U
,
uu
m
®
0
in
$
K
,
¢
¾®¾yg
m
w
in
V
. (2)
Then there is some
yCSVÎ (; )
0
such that we have
¢
ÎyW
and
¢
=yg
,
(, )yy
¢
ÎKu a b f(, , , ,)
00000
u
. Moreover, we
have
yy
m
®
in
CSV m(; ),
0
®+¥
, (3)
¢
¾®¾
¢
yy
m
w
in
Wm, ®+¥
, (4)
¢
¾®¾
¢
tSy t yt
m
w
() ()
in
Hm
0
, ®+¥
. (5)
307
Proof. Let the condition of the theorem be satisfied. For a fixed
bVÎ
0
, we consider a Lipshitz continuous operator
RZ Z
b
: ®
(accordingly,
VV®
) specified by the relationship
( )() ()Ryt b ysds y Z
b
t
=+ "Î
ò
t
(accordingly,
yV
),
tS
.
Let us consider a multivalued operator
AV U C V:()´®
*
u
Ayu Ay u B R y CRy y V u u b U U K
bb
(, ) (, ) () ( , ), , (,, )=+ + Î=Î=´o uu´V
0
.
If
(, ) (,,,, )yy Ku abf
¢
Î u
, then
zy= '
is a solution of the problem
¢
+'
=
ì
í
î
zAzu b f
za
(,,,) ,
() .
u
t
(6)
On the contrary, if
zWÎ
is a solution of problem (6), then we have
(, ) ( ,) (,,,, )yy Rzz Ku abf
b
¢
u
.
Let
{}fabu V HVUK
mmmmmm
,,,, ,u
³
*
Ì´ ´´´
100
(, )yy
mm
¢
Î Ku
mm
(, ,u ab f m
mmm
,,)1
, and let
convergences (2) take place. We put
zy
mm
=
¢
m 1
. Then we have
yRz
mbm
m
="³m 1
. It may be noted that inclusion
(6) implies that,
m 1
dAzu b
mmmmm
(,,,)u
such that we have
dfzAzu b
mmm mmmm
=-
¢
Î (, , , )u
. (7)
Convergences (2) imply the boundedness of sequences
{}z
m
,
{}u
m
,
{}u
m
,
{}b
m
, and
{}f
m
in the corresponding
topologies of the spaces
VU KV,
$
,
$
,
0
, and
V
*
.
Then the boundedness of
{}d
m
in
V
*
follows from the boundedness of
the mappings
AV U C V:()´®
*
u
,
BV V:,®
*
and
CZ K C Z:()´®
*
u
, the continuity of the embeddings
VZÌ
and
ZV
**
Ì
, and the following estimates:
|| || [|| || || || ] ,Rx Rx b b x x xx V
bb
V
VV
12 0
12 12 12 12
-+-"Îa ,,bb V
12 0
Î
,
|| || [|| || || || ] ,Rx Rx b b x x xx Z
bb
Z
VZ
12 0
12 12 12 12
-+-"Îb ,,bb V
12 0
Î
,
where
a
and
b
are constants that do not depend on
b
i
and
x
i
.
Thus, we obtain
$>"³ £
*
cmd c
m
V
11
01:||||
. (8)
The boundedness of
{}
¢
³
z
mm1
in
V
*
follows from the boundedness of
{}f
m
in
V
*
and inequality (8) and, hence, we
have
$>"³
¢
££
*
cmz zc
m
V
m
W
22
01: |||| ||||
. (9)
Since the embedding
WCSHÌ (; )
0
is continuous (see [2, 8]), from inequalities (9) we obtain
$>"³"Î £cmtSztc
m
H
33
01
0
: , || ( )||
. (10)
With the help of convergences (2) and estimates (8–(10) and with allowance for the continuity of the mapping
yya
¢
in
DSV
**
(; )
0
, we obtain
zgWddfgV
tSz t gt H
m
w
m
w
m
w
¾®¾¾®¾=-
¢
¾®¾
*
in in
in
,,
() ()
0
0
as m ®¥.
(11)
From this and also convergences (2), we obtain, in particular, that
gWÎ
and
ga()t =
0
. (12)
Let us show that
g
satisfies the inclusion
¢
+'gAgu f(, )
00
, where
uu b
0000
= (, ,)u
. Since
¢
+=gdf
0
, it suffices
to prove that
dAguÎ (, )
.
308
We first make sure that we have
lim ,
m
mm
dz g
®¥
á-ñ£0
. (13)
In fact, owing to relationship (7),
m 1
, we have
á-ñ=áñ-á
¢
ñ-á ñdz g fz zz dg
mm mm mm m
,,,,
ñ-á ñ+ -fz dg z zT
mm m m
H
m
H
, , (|| ( )|| || ( )|| )
1
2
00
22
t
. (14)
Next, in the left and right sides of equality (14), we take the upper limit as
m ®¥
,
lim , lim , lim ,
m
mm
m
mm
m
m
dz g fz d g
®¥ ®¥ ®¥
á-ñ£áñ+á-ñ
+-£áñ-áñ
®¥
lim (|| ( )|| || ( )|| ) , ,
m
m
H
m
H
zzTfgdg
1
2
22
0
t
+-=á-ñ-áñ=
1
2
0
00
22
0
(|| ( ) || || ( ) || ) , ',ggTfdggg
HH
t
.
The latter takes place by virtue of [8, Lemma I.5.3] and convergences (11). Inequality (13) is verified.
The definition of
A
implies that,
m 1
,
z
mmm
Az u(, )
and
xu
mbmm
CR z(,)
such that we have
= + +md BRz
mm bm m
m
1 zxo ()
. (15)
From convergences (2) and (11), the boundedness of
CZ K C Z:()´®
*
u
, and the compactness of the embedding
WZÌ
, we have
zg
m
®
in
Z
,
Rz Rg
bm b
m
®
0
in
Z
,
xx
m
w
¾®¾
in
Zm
*
, ®+¥
. (16)
The demiclosedness of
CZ K C Z:()´®
*
u
implies that
xuÎCR g
b
(,)
0
0
. (17)
Since we have
z sds ts z cts
m
s
t
V
q
m
V
q
( ) | | || || | |
//
ò
£- £ -
0
1
4
1
ts S,
,
m 1
, where
c
4
0>
is a constant independent
of
m ³ 1
and
st S, Î
, by virtue of convergences (2), we have
Rz R
bm b
m
®
0
in
CSV m(; ),
0
®+¥
, (18)
in particular, we have
BR z BRg
bm b
m
oo®
0
in
Vm
*
®+¥,
. (19)
Thus, we obtain
á+-ñ®®+¥BR z z g m
bm mm
m
o () , ,x 0
, (20)
lim ( ) , ( ) ,
m
bm mm b
BR z z BR g g
m
®¥
á+-ñ=á+-ñooxw xw
0
³á - ñ+ - " Î
-
BR g g CRg g V
bb
o
00
0
(), [( , ), ]wuww
. (21)
From relationships (13), (15), and (20) we have
lim ,
m
mm
zg
®¥
á-ñ£z 0
.
(22)
It also follows from (15)–(18) and convergences (11) that we have
zzx
m
w
b
dBRg¾®¾=--o
0
()
in
Vm
*
®+¥,
.
(23)
309
Thus, owing to convergences (11), inequality (22), convergence (23), and the
l
0
-quasimonotonicity of
A
on
WU´
,we
obtain that, up to a subsequence
{}{}zud zud
mmmk mmmm
kkk
,, ,,
³³
Ì
11
,
lim , [ ( , ), ]
k
mm
kk
zAgug
®+ ¥
-
á-ñ³ -zw w
0
w V
. This, inequality (13), and convergence (20) imply, in particular, that
lim ,
k
mm
kk
zg
®¥
á-ñ=z 0
and
á-ñ=zw, g
lim ,
k
m
k
g
®¥
á-ñzw³-
-
[(, ), ]Ag u g
0
w w V
. Together with relationships (21), the latter relationships guarantee that
the inequality
á-ñ³dg, w
[(,,,), ]Agu b g
000
uw-
-
w V
holds true. This means that
dAgu bÎ (, , , )
000
u
. Putting
yRg
b
=
0
and
¢
=yg
, we obtain
(,) (,,,,)yy Ku a b f
¢
Î
0
0000
u
. Note that convergence (3) directly follows from
convergence (19) and that convergences (4) and (5) follow from convergences (11).
The theorem is proved.
We additionally assume that there are real Hilbert spaces
V
s
and
V
s
1
such that the embeddings
VVV H
ss
ÌÌ Ì
00
1
are continuous and dense. Then the embedding
VH
s
Ì
0
is compact. We assume that
WyVyLSV
qss
¢
Î
*
{}|(;)
, where
V
s
*
is a space topologically conjugated with
V
s
and
¢
y
is the derivative of an element
yVÎ
in the sense of
DSV
**
(; )
s
[8].
THEOREM 2. If, for some
uUÎ
,
u ÎK
,
aHÎ
0
, and
bVÎ
0
, a mapping
AuV CV(, ): ( )
×
®
*
u
is
l
0
-pseudo-
monotone on
W
s
, if we have
$>"Î ³-
+
cc c yVAyuy c y c
Ayu
V
p
123 1 2
0,, : [(,),] |||| ,
|| ( , )|| ( || || ) ,
+
-
£+cy
V
p
3
1
1
(24)
and if a mapping
BL SV L SV:(; ) (; )
22
11
ss
®
*
satisfies the property
uV()() ()Bu t B u t=
0
for almost all
tSÎ
,
where
BV V
0
11
:
ss
®
*
is a linear bounded self-conjugate monotone operator, if a mapping
CZCZ(, ): ( )
×
®
*
u
u
is
demiclosed, and if we have
$>"Î
*
e 0: yZ sup || || ( ( ) )( || ||
(,)
/
dC y
Z
ppq
Z
p
dcT y
Î
--*
-
*
£--+
u
gte
1
1
1)
,
(25)
where
ggº£
××
const: || || || ||
ZV
00
, then, for an arbitrary
fVÎ
*
we have
Ku ab f(,,,, )u ¹Æ
.
Proof. Let us consider some
w ÎW
such that we have
wt()= a
and the mapping
AV C V:()®
*
u
,
Ay Ay u CR y
b
() ( ,) ( ( ),)=+ + +wwu
,
yVÎ
. Conditions (24) and (25) imply that (see [5]), for some
aa
12
0, >
, we have
[(),] ||||Ay y y
V
p
+
³-aa
12
,
yVÎ
. Repeating the reasoning from [5, p. 207] and taking into account that the embedding
WZ
s
Ì
is compact, we obtain that the mapping
A
is bounded and
l
0
-pseudo-monotone on
W
s
. Next, following the proof of
Theorem 1 from [5], we obtain that the problem
¢¢
+
¢
+'-
¢
-
==
ì
í
ï
î
ï
yAy Byf BR
yby
() ,
() , '()
ww
tt
o
0
0
(26)
has a solution
yCSVÎ (; )
such that
¢
ÎyW
. Applying the replacement
zyR=+
0
w
to problem (26), we obtain the
required statement.
The theorem is proved.
We additionally assume that
$
(,(,))KX XX=
**
s
, where
X
is some real separable or reflexive Banach space,
KKÌ
$
is a
*
-weakly compact nonempty subset, and the mapping
AV C V:()®
*
u
does not depend on a parameter
uUÎ
. Then,
instead of
Ku abf(,,,, )u
, we will write
Kabf(,,, )u
. Let us fix arbitrary
fXaVÎÎ
*
,,
and
bHÎ
.Weput
GyyCSVWKyyKabf
ad
=
¢
뫫
¢
Î{( , , ) ( ; ) ( , ) ( , , , )}uu
0
.
310
THEOREM 3. Let
LCSV W W W X X X: ( ; ) ( ; ( ; )) ( ; ( ; ))
0
´´
**
ss
be a lower semicontinuous functional such that,
uCSV(; )
0
,
u ÎW ,
and
wXÎ
*
, we have
Lu w(, , )u ³+ju j
12
(|| || ) (|| || )
*
V
X
w
, where
j
i
RR:
+
®
are such that
j
i
s()®+¥
and
s ®+¥
,
i =12,
. We also assume that
AV C V:()®
*
u
,
BV V:,®
*
and
CZ K C Z:()´®
*
u
satisfy the
conditions of Theorems 1 and 2. Then the problem
Lyy
yy G
ad
(, ,) inf,
(, ,)
¢
®
¢
Î
ì
í
î
u
u
(27)
has a solution.
The proof immediately follows from the statements of Theorems 1 and 2 and the generalized Weierstrass theorem [2].
APPENDIX
Let us consider a viscoelastic body that, in its undeformed state, fills a limited domain
R
d
, d = 23,.
We assume
that the boundary
GW
is regular [8] and that
G
is divided into the following three pairwise nonintersecting measurable
parts:
G
D
,
G
N
, and
G
C
so that we have
meas
C
()G>0
[4]. The body is clamped on
G
D
so that the displacement field
vanishes. We also assume that a given vector of the body force
f
1
is distributed in
W
and that the surface force
f
2
is
distributed over
G
D
. The body can come into contact with the base over the potential contact surface
G
C
. We put
QTW (, )0
for
0 <<+¥T
. We denote by
uQ R
d
: ®
the displacement field, by
s : QS
d
®
the stress tensor, by
ee() ( ())uu
ij
=
,
e
ij i j j i
uuu() ( )
,,
=+
1
2
, the deformation tensor, where
ij d,,= 1
, and by
S
d
the space
R
s
dd´
of symmetric
matrices of order
d
. Following [12], we will consider a multivalued analogue of the Kelvin–Voigt viscoelastic defining
relationship
see(, ) (( )) (())uu u u
¢
ÎÀ
¢
, where
À
is a multivalued nonlinear mapping and
Á
is a single-valued linear
defining mapping. Note that, in the classical linear viscoelasticity, the law defined above assumes the form
se e
i j ijkl kl ijkl kl
cugu
,
() ()=
¢
+
, where
À={}c
ijkl
and
Á={}g
ijkl
,
ijkl d,,, ,=1
, are the tensors of viscosity and elasticity,
respectively.
We denote the normal and tangential components of a displacement
u
on
G
by
u
N
and
u
T
,
uun
N
,
uuun
TN
=-
,
where
n
is the unit vector of the outer normal to
G
. Similarly, the normal and tangential components of the stress field on
G
is
specified through
ss
N
nn()
and
sss
TN
nn=-
, respectively. On the contact surface
G
C
, we consider boundary
conditions. The normal stress
s
N
and normal displacement
u
N
satisfy the nonmonotone normal condition of compliance
reaction of the form
sz
NN N
jxtu(,, , )
on
G
C
T´ (, )0
. The law of friction between the friction force
s
T
and
tangential displacement
u
T
on
G
C
is of the form
sx
TT T
jxtu(,, , )
on
G
C
T´ (, )0
. Here,
j
N
(,,, ):
×××
z
G
C
d
TR R´´®(, )0
and
jTRR
TC
d
(,,, ): (, )
×××
´´®x G 0
are locally Lipshitzian with respect to the last variables of the
function, and
j
N
and
j
T
are Clark’s subdifferentials of the corresponding functionals
jxt
N
(,,, )
×
z
and
jxt
T
(,,, )
×
x
.In
particular cases, such boundary conditions include classical conditions on the domain boundary (see, for example, [4,
Chapter 2.3; 6]). We denote the initial displacement and initial speed by
u
0
and
u
1
. The classical formulation of the contact
problem is of the form: find
uQ R
d
: ®
and
s : QS
d
®
such that we have
¢¢
-=
ÎÀ
¢
uf Q
uu Q
uT
D
div in
in
on
s
se e
1
00
,
(( )) (( )) ,
(, )G ,
(, ),
(,, , ), (,, ,
s
szs
nf T
jxtu jxtu
N
NN N TT T
-Î
2
0on G
x )(,),
() , () .
on
on
G
W
C
T
uuu u
´
=
¢
=
ì
í
ï
ï
ï
î
ï
ï
ï
0
00
01
(28)
For the variational statement of this problem, we put
HL R
d
02
= (; )W
,
HL S
d02
= (; )W
,
HuHuHH R
d
10 0
1
Î ={}|() ( ; )e W
,
VH
D01
0 ={on}uu| G
.
311
Using Green’s formula the definition of the Clark subdifferential [13, 14], under conditions of the corresponding
smoothness of initial data (see [4, 12] for more detail), one can obtain [4, 12] the variational statement of problem (28)
on the search for
uTV:[ , ]0 ®
and
s :[ , ]0
0
TH®
such that we have
{á
¢¢
ñ+ +
+
ò
ut t
jxtu j
V
H
N
NN
Ñ
(), ( (), ( ))
((,, , ;)
useu
uz
0
0
0
G
T
TT
V
xtu d x
ft V
0
0
0
(,, ; ; )) ()
(),
ux
uu
G
³á ñ Îfor all and almost all tT
uuu u
Î
=
¢
=
ì
í
ï
ï
ï
î
ï
ï
ï
[, ],
() , () ,
0
00
01
(29)
where
áñ= +ft f t f t
V
H
LR
N
d
(), ( (), ) ( (), )
(; )
uu u
0
0
2
12
G
for all
u ÎV
0
and almost all
t
.
Let
VL TV=
20
0(, ; )
, let
WwVwV
¢
Î
*
{}|
, and let
g
d
:(;): (;)
/
HR ZH R
dd
WG Ì
0
12
LR
d
2
(; )G
be a trace
operator,
d Î(/ ; )121
. Mappings
AV
V
:,®
*
2
and
BV V
00 0
: ®
*
are defined as follows:
[(,),] sup{(,())| ,() (,,((Atu d dV d t u
H
00
0
ueu e
+
*
ÎÀ
×× ×
)))}
,
tSÎ , uV, u Î
0
,
Au d V dt A t yt() | () (,()) Î
*
{
0
for almost all
tSÎ }
,
uVÎ
,
áñ=Á "ÎÎBu xt u u V t T
V
H
00
0
0
0, ( (,,()),()) , , [, ]ueeuu
.
Here,
[(,),]Atu u
+
is the upper support function of a set
Atu V(, )Ì
*
0
. A functional
JTL R KR
C
d
:[ , ] ( ; )0
2
´´®G
is
defined as follows:
Jt j xt x j xt x d x
C
NN TT
(,,) ( (,, (),) (,, (),)) ()uh u z u x=+
ò
G
G
,
for
tTÎ[, ]0
,
u ÎLR
C
d
2
(; )G
, and
hzx(, ) K
, and
CZ K C Z:()´®
*
u
is defined as follows:
Cu d Z dt Jt ut( , ) | ( ) ( ( , ( ), ))hggh Î
**
{
for almost all
tTÎ[, ]0}
,
where
g
*
is the operator conjugate to
g
. Thus, we have obtained the problem on the search for
uVÎ
and
¢
ÎuW
such
that we have
¢¢
+
¢
++ '
=
¢
=
ì
í
î
uAu BuCu f
uuu u
() (,) ,
() , () .
h
00
01
(30)
It may be proved (for more details, see [4, 12]) that each solution of problem (30) is a solution of problem (29). Thus,
imposing conditions on the parameters of problem (28) in such a way that the mappings
AB,,
and
C
satisfy the
conditions of Theorems 1–3 (for more details, see [1, 2, 3, 5, 12]), we obtain results on some properties of the
resolving operator of problem (30) and, in particular, of optimal control problem (27). Note that the investigation
scheme proposed in this work (in contrast to the existing approaches [1, 2, 3, 5, 12]) makes it possible, for example, to
relax the technical condition of the uniform
-
”-coercivity by reducing it to the
+
”-coercivity and that of the
generalized pseudo-monotonicity by reducing it to the
w
l
0
-pseudo-monotonicity, etc. It should be noted that concrete
classes of differential operators of pseudomonotone type occurring in problem (28) are considered in detail in [1–14]
(see these works and references to sources).
312
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