1 Introduction

The main revolution in the existence theory of many linear and non-linear operators happened after the Banach contraction principle. After this principle many researchers put their efforts into studying the existence and solutions for nonlinear equations (algebraic, differential and integral), a system of linear (nonlinear) equations and convergence of many computational methods [1]. Banach contraction gave us many important theories like variational inequalities, optimization theory and many computational theories [1, 2]. Due to wide spreading importance of Banach contraction, many authors generalized it in several directions [39]. Nadler [10] was first to present it in a multivalued case, and then many authors extended Nadler’s multivalued contraction. One of the real generalizations of Nadler’s theorem was given by Mizoguchi and Takahashi in the following way.

Theorem 1.1 [11]

Let (X,d) be a complete metric space, and let T:X 2 X be a multivalued map such that Tx is a closed bounded subset of X for all xX. If there exists a function φ:(0,)[0,1) such that lim sup r t + φ(r)<1 for all t[0,) and if

H(Tx,Ty)φ ( d ( x , y ) ) ( d ( x , y ) ) for all x,y(xy)X,

then T has a fixed point in X.

Suzuki [12] proved that Mizoguchi and Takahashi’s theorem is a real generalization of Nadler’s theorem. Recently Huang and Zhang [13] introduced a cone metric space with a normal cone with a constant K, which is generalization of a metric space. After that Rezapour and Hamlbarani [14] generalized a cone metric space with a non-normal cone. Afterwards many researchers [1524] have studied fixed point results in cone metric spaces. In [25] Mustafa et al. generalized the metric space and introduced the notion of G-metric space which recovered the flaws of Dhage’s generalization [26, 27] of a metric space. Many researchers proved many fixed point results using a G-metric space [28, 29]. Anchalee Kaewcharoen and Attapol Kaewkhao [28] and Nedal et al. [30] proved fixed point results for multivalued maps in G-metric spaces. In 2009, Beg et al. [31] introduced the notion of G-cone metric space and generalized some results. Chi-Ming Cheng [32] proved Nadler-type results in tvs G-cone metric spaces.

In 2011 Cho and Bae [33] generalized a Mizoguchi Takahashi-type theorem in a cone metric space. In the present paper, we introduce the notion of Hausdorff distance function on G-cone metric spaces and exploit it to study some fixed point results in G-cone metric spaces. Our result generalizes many results in literature.

2 Preliminaries

Let E be a real Banach space. A subset P of E is called a cone if and only if:

  1. (a)

    P is closed, nonempty and P{θ},

  2. (b)

    a,bR, a,b0, x,yP implies ax+byP, more generally, if a,b,cR, a,b,c0, x,y,zPax+by+czP,

  3. (c)

    P(P)={θ}.

Given a cone PE, we define a partial ordering ≼ with respect to P by xy if and only if yxP.

A cone P is called normal if there is a number K>0 such that for all x,yE

θxyimpliesxKy.

The least positive number satisfying the above inequality is called the normal constant of P, while xy stands for yxintP (interior of P), while xy means xy and xy.

Rezapour [14] proved that there are no normal cones with normal constants K<1 and for each k>1, there are cones with normal constants K>1.

Remark 2.1 [34]

The results concerning fixed points and other results, in the case of cone spaces with non-normal solid cones, cannot be provided by reducing to metric spaces, because in this case neither of the conditions of Lemmas 1-4 in [13] hold. Further, the vector cone metric is not continuous in a general case, i.e., from x n x, y n y it need not follow that d( x n , y n )d(x,y).

For the case of non-normal cones, we have the following properties.

(PT1) If uv and vw, then uw.

(PT2) If uv and vw, then uw.

(PT3) If uv and vw, then uw.

(PT4) If θuc for each cintP, then u=θ.

(PT5) If ab+c for each cintP, then ab.

(PT6) If E is a real Banach space with a cone P, and if aλa, where aP and 0λ<1, then a=θ.

(PT7) If cintP, a n E and a n θ, then there exists an n 0 such that, for all n> n 0 , we have a n c.

In the following we shall always assume that the cone P is solid and non-normal.

Definition 2.1 [31]

Let X be a nonempty set. Suppose that a mapping G:X×X×XE satisfies:

(G1) G(x,y,z)=θ if x=y=z,

(G2) θG(x,x,y), whenever xy, for all x,yX,

(G3) G(x,x,y)G(x,y,z), whenever yz,

(G4) G(x,y,z)=G(x,z,y)=G(y,x,z)= (symmetric in all three variables),

(G5) G(x,y,z)G(x,a,a)+G(a,y,z) for all x,y,z,aX.

Then G is called a generalized cone metric on X, and X is called a generalized cone metric space or, more specifically, a G-cone metric space.

The concept of a G-cone metric space is more general than that of G-metric spaces and cone metric spaces (see [31]).

Definition 2.2 [31]

A G-cone metric space X is symmetric if G(x,y,y)=G(y,x,x) for all x,yX.

Example 2.1 [31]

Let (X,d) be a cone metric space. Define G:X×X×XE by G(x,y,z)=d(x,y)+d(y,z)+d(z,x). Then (X,G) is a G-cone metric space.

Proposition 2.1 [31]

Let X be a G-cone metric space, define d G :X×XE by

d G (x,y)=G(x,y,y)+G(y,x,x).

Then (X, d G ) is a cone metric space.

It can be noted that G(x,y,y) 2 3 d G (x,y). If X is a symmetric G-cone metric space, then d G (x,y)=2G(x,y,y) for all x,yX.

Definition 2.3 [31]

Let X be a G-cone metric space and let { x n } be a sequence in X.

We say that { x n } is:

  1. (a)

    a Cauchy sequence if for every cE with θc, there is N such that for all n,m,l>N, G( x n , x m , x l )c.

  2. (b)

    a convergent sequence if for every c in E with θc, there is N such that for all m,n>N, G( x m , x n ,x)c for some fixed x in X. Here x is called the limit of a sequence { x n } and is denoted by lim n x n =x or x n x as n.

A G-cone metric space X is said to be complete if every Cauchy sequence in X is convergent in X.

Proposition 2.2 [31]

Let X be a G-cone metric space, then the following are equivalent.

  1. (i)

    { x n } converges to x.

  2. (ii)

    G( x n , x n ,x)θ as n.

  3. (iii)

    G( x n ,x,x)θ as n.

  4. (iv)

    G( x m , x n ,x)θ as m,n.

Lemma 2.1 [31]

Let { x n } be a sequence in a G-cone metric space X. If { x n } converges to xX, then G( x m , x n ,x)θ as m,n.

Lemma 2.2 [31]

Let { x n } be a sequence in a G-cone metric space X and xX. If { x n } converges to xX, then { x n } is a Cauchy sequence.

Lemma 2.3 [31]

Let { x n } be a sequence in a G-cone metric space X. If { x n } is a Cauchy sequence in X, then G( x m , x n , x l )θ, as m,n,l.

3 Main result

Denote by N(X), B(X) and CB(X) the set of nonempty, bounded, sequentially closed bounded subsets of G-cone metric spaces, respectively.

Let (X,G) be a G-cone metric space. We define (see [33])

s(p)={qE:pq}for qE,

and

s(a,B)= b B s ( d G ( a , b ) ) = b B { x E : d G ( a , b ) x } for aX and BN(X).

For A,BB(X), we define

s ˆ ( A , B ) = a A , b B s ( d G ( a , b ) ) , s ( a , B , C ) = s ( a , B ) + s ˆ ( B , C ) + s ( a , C ) = { u + v + w : u s ( a , B ) , v s ˆ ( B , C ) , w s ( a , C ) } ,

and

s(A,B,C)= ( a A s ( a , B , C ) ) ( b B s ( b , A , C ) ) ( c C s ( c , A , B ) ) .

Lemma 3.1 Let (X,G) be a G-cone metric space, let P be a cone in a Banach space E.

  1. (i)

    Let p,qE. If pq, then s(q)s(p).

  2. (ii)

    Let xX and AN(X). If 0s(x,A), then xA.

  3. (iii)

    Let qP and let A,B,CB(X) and aA. If qs(A,B,C), then qs(a,B,C).

Remark 3.1 Recently, Kaewcharoen and Kaewkhao [28] (see also [30]) introduced the following concepts. Let X be a G-metric space and let CB(X) be the family of all nonempty closed bounded subsets of X. Let H G (,,) be the Hausdorff G-distance on CB(X), i.e.,

H G ( A , B , C ) = max { sup a A G ( a , B , C ) , sup b B G ( b , A , C ) , sup c C G ( c , A , B ) } , H d G ( A , B ) = max { sup a A d G ( a , B ) , sup b B d G ( b , A ) } ,

where

G ( x , B , C ) = d G ( x , B ) + d G ( B , C ) + d G ( x , C ) , d G ( x , B ) = inf { d G ( x , y ) , y B } , d G ( A , B ) = inf { d G ( a , b ) , a A , b B } , G ( a , b , C ) = inf { G ( a , b , c ) , c C } .

The above expressions show a relation between H G and H d G . Moreover, note that if (X,G) is a G-cone metric space, E=R, and P=[0,), then (X,G) is a G-metric space. Also, for A,B,CCB(X), H G (A,B,C)=infs(A,B,C).

Remark 3.2 Let (X,G) be a G-cone metric space. Then

  1. (a)

    s ˆ ({a},{b})=s( d G (a,b)) for a,bX.

  2. (b)

    If xs(a,B,B) then x2s( d G (a,b)).

Proof (a) By definition

s ˆ ( { a } , { b } ) = a { a } , b { b } s ( d G ( a , b ) ) = s ( d G ( a , b ) ) .
  1. (b)

    Now let

    x s ( a , B , B ) , then x s ( a , B , B ) = s ( a , B ) + s ˆ ( B , B ) + s ( a , B ) x 2 s ( a , B ) + s ˆ ( B , B ) x 2 s ( d G ( a , b ) ) + s ( θ ) .

Let x=y+z for y2s( d G (a,b)) and zs(θ). Then by definition θz and 2 d G (a,b)y, which implies θ+2 d G (a,b)y+z=x. Hence 2 d G (a,b)x, so x2s( d G (a,b)). □

In the following theorem, we use the generalized Hausdorff distance on G-cone metric spaces to find fixed points of a multivalued mapping.

Remark 3.3 If (X,G) is a G-metric space, then (X, d G ) is a metric space, where

d G (x,y)=G(x,y,y)+G(y,x,x).

It is noticed in [35] that in the symmetric case ((X,G) is symmetric), many fixed point theorems on G-metric spaces are particular cases of existing fixed point theorems in metric spaces. In these deductions, the fact G(Tx,Ty,Ty)+G(Ty,Tx,Tx)=2G(Tx,Ty,Ty)= d G (Tx,Ty) is exploited for a single-valued mapping T on X. Whereas in the case of multivalued mapping T:X 2 X on a G-cone metric space,

s ( T x , T y , T y ) = ( a T x s ( a , T y , T y ) ) ( b T y s ( b , T x , T y ) ) ( b T y s ( b , T x , T y ) ) = ( a T x s ( a , T y , T y ) ) ( b T y s ( b , T x , T y ) ) = ( a T x 2 s ( a , T y ) ) ( b T y s ( b , T x ) + s ˆ ( T x , T y ) + s ( b , T y ) ) s ( T y , T x , T x ) .

Therefore,

( a T x s ( a , T y ) ) ( b T y s ( b , T x ) ) s(Tx,Ty,Ty)+s(Ty,Tx,Tx)

and even in a symmetric case, we cannot follow a similar technique to deduce G-cone metric multivalued fixed point results from similar results of metric spaces.

In a non-symmetric case, the authors [35] deduce some G-metric fixed point theorems from similar results of metric spaces by using the fact that if (X,G) is a G-metric on X, then

δ(x,y)=max { G ( x , y , y ) , G ( y , x , x ) }

is a metric on X. Whereas, in the case of a G-cone metric space, the expression max{G(x,y,y),G(y,x,x)} is meaningless as G(x,y,y), G(y,x,x) are vectors, not essentially comparable, and we cannot find maximum of these elements. That is, (X,δ) may not be a cone metric space if (X,G) is a G-cone metric space. In the explanation of this fact, we refer to Example 3.1 below, from [31]. Hence multivalued fixed point results on G-cone metric spaces cannot be deduced from similar fixed point theorems on metric spaces.

Example 3.1 [31]

Let X={a,b}, E= R 3 ,

P= { ( x , y , z ) E : x , y , z 0 } .

Define G:X×X×XE by

G ( a , a , a ) = ( 0 , 0 , 0 ) = G ( b , b , b ) , G ( a , b , b ) = ( 0 , 1 , 1 ) = G ( b , a , b ) = G ( b , b , a ) , G ( b , a , a ) = ( 0 , 1 , 0 ) = G ( a , b , a ) = G ( a , a , b ) .

Note that δ(a,b)=max{G(a,a,b),G(a,b,b)}=max{(1,0,0),(0,1,1)} has no meaning as discussed above.

Theorem 3.1 Let (X,G) be a complete cone metric space, and let T:XCB(X) be a multivalued mapping. If there exists a function φ:P[0,1) such that

lim sup n φ( r n )<1
(a)

for any decreasing sequence { r n } in P, and if

φ ( G ( x , y , z ) ) G(x,y,z)s(Tx,Ty,Tz)
(1)

for all x,y,zX, then T has a fixed point in X.

Proof Let x 0 be an arbitrary point in X and x 1 T x 0 . From (1), we have

φ ( G ( x 0 , x 1 , x 1 ) ) G( x 0 , x 1 , x 1 )s(T x 0 ,T x 1 ,T x 1 ).

Thus, by Lemma 3.1(iii), we get

φ ( G ( x 0 , x 1 , x 1 ) ) G( x 0 , x 1 , x 1 )s( x 1 ,T x 1 ,T x 1 ).

By Remark 3.2, we can take x 2 T x 1 such that

φ ( G ( x 0 , x 1 , x 1 ) ) G( x 0 , x 1 , x 1 )2s ( d G ( x 1 , x 2 ) ) .

Thus,

2 d G ( x 1 , x 2 )φ ( G ( x 0 , x 1 , x 1 ) ) G( x 0 , x 1 , x 1 ).

Again, by (1), we have

φ ( G ( x 1 , x 2 , x 2 ) ) G( x 1 , x 2 , x 2 )s(T x 1 ,T x 2 ,T x 2 ),

and by Lemma 3.1(iii)

φ ( G ( x 1 , x 2 , x 2 ) ) G( x 1 , x 2 , x 2 )s( x 2 ,T x 2 ,T x 2 ).

By Remark 3.2, we can take x 3 T x 2 such that

φ ( G ( x 1 , x 2 , x 2 ) ) G( x 1 , x 2 , x 2 )2s ( d G ( x 2 , x 3 ) ) .

Thus,

2 d G ( x 2 , x 3 )φ ( G ( x 1 , x 2 , x 2 ) ) G( x 1 , x 2 , x 2 ).

It implies that

2 d G ( x 2 , x 3 ) φ ( G ( x 1 , x 2 , x 2 ) ) G ( x 1 , x 2 , x 2 ) φ ( G ( x 1 , x 2 , x 2 ) ) G ( x 1 , x 2 , x 2 ) + φ ( G ( x 1 , x 2 , x 2 ) ) G ( x 2 , x 1 , x 1 ) φ ( G ( x 1 , x 2 , x 2 ) ) [ G ( x 1 , x 2 , x 2 ) + G ( x 2 , x 1 , x 1 ) ] = φ ( G ( x 1 , x 2 , x 2 ) ) d G ( x 1 , x 2 ) d G ( x 2 , x 3 ) 1 2 φ ( G ( x 1 , x 2 , x 2 ) ) d G ( x 1 , x 2 ) .

By induction we can construct a sequence { x n } in X such that

d G ( x n , x n + 1 ) 1 2 φ ( G ( x n 1 , x n , x n ) ) d G ( x n 1 , x n ), x n + 1 T x n , for n=1,2,3.
(2)

Assume that x n + 1 x n for all nN. From (2) the sequence { d G ( x n , x n + 1 ) } n N is a decreasing sequence in P. So, there exists l(0,1) such that

lim sup n φ ( d G ( x n , x n + 1 ) ) =l.

Thus, there exists n 0 N such that for all n n 0 , φ( d G ( x n , x n + 1 )) l 0 for some l 0 (l,1). Choose n 0 =1, then we have

d G ( x n , x n + 1 ) 1 2 φ ( d G ( x n 1 , x n ) ) d G ( x n 1 , x n ) l 0 d G ( x n 1 , x n ) ( l 0 ) n d G ( x 0 , x 1 ) for all  n 1 .

Moreover, for m>n1, we have that

d G ( x n , x m ) ( l 0 ) n 1 l 0 d G ( x 0 , x 1 ).

According to (PT1) and (PT7), it follows that { x n } is a Cauchy sequence in X. By the completeness of X, there exists vX such that x n v. Assume k 1 N such that d G ( x n ,v) c 2 for all n k 1 .

We now show that vTv. So, for x n ,vX and by using (2), we have

φ ( G ( x n , v , v ) ) G( x n ,v,v)s(T x n ,Tv,Tv).

By Lemma 3.1(iii) we have

φ ( G ( x n , v , v ) ) G( x n ,v,v)s( x n + 1 ,Tv,Tv).

Thus there exists u n Tv such that

φ ( G ( x n , v , v ) ) G( x n ,v,v)2s ( d G ( x n + 1 , u n ) ) .

It implies that

2 d G ( x n + 1 , u n ) φ ( G ( x n , v , v ) ) G ( x n , v , v ) , d G ( x n + 1 , u n ) 1 2 φ ( G ( x n , v , v ) ) G ( x n , v , v ) φ ( G ( x n , v , v ) ) [ G ( x n , v , v ) + G ( x n , x n , v ) ] = φ ( G ( x n , v , v ) ) d G ( x n , v ) .

So

d G ( x n + 1 , u n )φ ( G ( x n , v , v ) ) d G ( x n ,v).
(3)

Now consider

d G ( v , u n ) d G ( x n + 1 , v ) + d G ( x n + 1 , u n ) d G ( x n + 1 , v ) + φ ( G ( x n , v , v ) ) d G ( x n , v ) by using (3) d G ( x n + 1 , v ) + d G ( x n , v ) , d G ( v , u n ) c 2 + c 2 = c , for all  n k 1 .

Therefore lim n u n =v. Since Tv is closed, so vTv. □

The next corollary is Nadler’s multivalued contraction theorem in a G-cone metric space.

Corollary 3.1 Let (X,G) be a complete G-cone metric space, and let T:XCB(X) be a multivalued mapping. If there exists a constant k[0,1) such that

kG(x,y,z)s(Tx,Ty,Tz)

for all x,y,zX, then T has a fixed point in X.

By Remark 3.1, we have the following results of [30].

Corollary 3.2 [30]

Let (X,G) be a complete G-metric space, and let T:XCB(X) be a multivalued mapping. If there exists a function φ:[0,+)[0,1) such that

lim sup r t + φ(r)<1

for any t0, and if

H G (Tx,Ty,Tz)φ ( G ( x , y , z ) ) G(x,y,z)

for all x,y,zX, then T has a fixed point in X.

Corollary 3.3 [30]

Let (X,G) be a complete G-metric space, and let T:XCB(X) be a multivalued mapping. If there exists a constant k[0,1) such that

H G (Tx,Ty,Tz)kG(x,y,z)

for all x,y,zX, then T has a fixed point in X.

In the following we formulate an illustrative example regarding our main theorem.

Example 3.2 Let X=[0,1], E=C[0,1] be endowed with the strongly locally convex topology τ(E, E ), and let P={xE:0x(t),t[0,1]}. Then the cone is τ(E, E )-solid, and non-normal with respect to the topology τ(E, E ). Define G:X×X×XE by

G(x,y,z)(t)=Max { | x y | , | y z | , | x z | } e t .

Then G is a G-cone metric on X.

Consider a mapping T:XCB(X) defined by

Tx= [ 0 , 1 10 x ] .

Let φ(t)= 1 5 for all tP. The contractive condition of the main theorem is trivial for the case when x=y=z=0. Suppose, without any loss of generality, that all x, y and z are nonzero and x<y<z. Then

G(x,y,z)=|xz| e t ,

and

d G (x,y)=2|xy| e t .

Now

s ( x , T y ) = { 0 if  x y 10 , | x y 10 | e t if  x > y 10 , s ( y , T z ) = { 0 if  y z 10 , | y z 10 | e t if  y > z 10 .

For s(x,Ty)=0=s(y,Tz), we have

s ( x , T y , T z ) = s ( 0 ) , y T y s ( y , T x , T z ) = s ( 2 | y 10 x 10 | e t ) ,

and

z T z s(z,Tx,Ty)=s ( 2 | z 10 x 10 y 10 | e t ) .

Thus

s(Tx,Ty,Tz)= ( s ( 0 ) ) ( s ( 2 | y 10 x 10 | e t ) ) ( s ( 2 | z 10 x 10 y 10 | e t ) ) .

Now

If  s ( T x , T y , T z ) = s ( 2 | z 10 x 10 y 10 | e t ) , then  2 | z 10 x 10 y 10 | e t 2 | z 10 x 10 | e t , for  t [ 0 , 1 ] = 1 5 | z x | e t = 1 5 Max { | x y | , | y z | , | x z | } e t = 1 5 G ( x , y , z ) ; If  s ( T x , T y , T z ) = s ( 2 | y 10 x 10 | e t ) , then  2 | y 10 x 10 | e t 2 | z 10 x 10 | e t , for  t [ 0 , 1 ] = 1 5 | z x | e t = 1 5 Max { | x y | , | y z | , | x z | } e t = 1 5 G ( x , y , z ) .

Hence,

1 5 G(x,y,z)s(Tx,Ty,Tz).

All the assumptions of Theorem 3.1 also hold for other possible values of s(x,Ty) and s(y,Tz) to obtain 0T0.