1 Introduction

In recent years, the applications of q-calculus in the approximation theory is one of the main areas of research. After q-Bernstein polynomials were introduced by Phillips [1] in 1997, many researchers have performed studies in this field; we mention some of them [14].

In 2007, Karsli [5] introduced and estimated the rate of convergence for functions with derivatives of bounded variation on [0,) of new gamma type operators as follows:

L n (f;x)= ( 2 n + 3 ) ! x n + 3 n ! ( n + 2 ) ! 0 t n ( x + t ) 2 n + 4 f(t)dt,x>0.
(1)

In 2009, Karsli, Gupta and Izgi [6] gave an estimate of the rate of pointwise convergence of these operators (1) on a Lebesgue point of bounded variation function f defined on the interval (0,). In 2010, Karsli and Özarslan [7] obtained some direct local and global approximation results and gave a Voronoskaya-type theorem for the operators (1). As the application of q-calculus in approximation theory is an active field, it seems there are no papers mentioning the q analogue of these operators defined in (1). Inspired by Aral and Gupta [2], they defined a generalization of q-Baskakov type operators using q-Beta integral and obtained some important approximation properties, which motivates us to introduce the q analogue of this kind of gamma operators.

Before introducing the operators, we mention certain definitions based on q-integers; details can be found in [8, 9]. For any fixed real number 0<q1 and each nonnegative integer k, we denote q-integers by [ k ] q , where

[ k ] q = { 1 q k 1 q , q 1 , k , q = 1 .

Also, q-factorial and q-binomial coefficients are defined as follows:

[ k ] q ! = { [ k ] q [ k 1 ] q [ 1 ] q , k = 1 , 2 , , 1 , k = 0 , [ n k ] q = [ n ] q ! [ k ] q ! [ n k ] q ! ( n k 0 ) .

The q-improper integrals are defined as (see [10])

0 / A f(x) d q x=(1q) f ( q n A ) q n A ,A>0,

provided the sums converge absolutely.

The q-beta integral is defined by

B q (t;s)=K(A;t) 0 / A x t 1 ( 1 + x ) q t + s d q x,
(2)

where K(x;t)= 1 x + 1 x t ( 1 + 1 x ) q t ( 1 + x ) q 1 t and ( a + b ) q τ = j = 0 τ 1 (a+ q j b), τ>0.

In particular for any positive integer m, n,

K(x,n)= q n ( n 1 ) 2 ,K(x,0)=1and B q (m;n)= Γ q ( m ) Γ q ( n ) Γ q ( m + n ) ,
(3)

where Γ q (t) is the q-gamma function satisfying the following functional equations:

Γ q (t+1)= [ t ] q Γ q (t), Γ q (1)=1

(see [3]).

For fC[0,), q(0,1) and nN, we introduce a kind of q-gamma operators G n , q (f;x) as follows:

G n , q (f;x)= [ 2 n + 3 ] q ! ( q n + 3 2 x ) n + 3 q n ( n + 1 ) 2 [ n ] q ! [ n + 2 ] q ! 0 / A t n ( q n + 3 2 x + t ) q 2 n + 4 f(t) d q t.
(4)

Note that for q 1 , G n , 1 (f;x) become the gamma operators defined in (1).

2 Some preliminary results

In order to obtain the approximation properties of the operators G n , q , we need the following lemmas.

Lemma 1 For any kN, kn+2 and q(0,1), we have

G n , q ( t k ; x ) = [ n + k ] q ! [ n k + 2 ] q ! [ n ] q ! [ n + 2 ] q ! q 2 k k 2 2 x k .
(5)

Proof Using the properties of q-beta integral, we have

G n , q ( t k ; x ) = [ 2 n + 3 ] q ! ( q n + 3 2 x ) n + 3 q n ( n + 1 ) 2 [ n ] q ! [ n + 2 ] q ! 0 / A t n + k ( q n + 3 2 x + t ) q 2 n + 4 d q t = x k [ 2 n + 3 ] q ! q n ( n + 1 ) 2 q k ( n + 3 2 ) [ n ] q ! [ n + 2 ] q ! 0 / A ( t q n + 3 2 x ) n + k ( 1 + t q n + 3 2 x ) q 2 n + 4 d q ( t q n + 3 2 x ) = x k [ 2 n + 3 ] q ! q n ( n + 1 ) 2 q k ( n + 3 2 ) [ n ] q ! [ n + 2 ] q ! B q ( n + k + 1 ; n k + 3 ) K ( A ; n + k + 1 ) = [ n + k ] q ! [ n k + 2 ] q ! [ n ] q ! [ n + 2 ] q ! q 2 k k 2 2 x k .

Lemma 1 is proved. □

Lemma 2 The following equalities hold:

G n , q (1;x)=1, G n , q (t;x)= q [ n + 1 ] q [ n + 2 ] q x, G n , q ( t 2 ; x ) = x 2 ,
(6)
G n , q ( t 3 ; x ) = [ n + 3 ] q q 3 / 2 [ n ] q x 3 , G n , q ( t 4 ; x ) = [ n + 3 ] q [ n + 4 ] q q 4 [ n ] q [ n 1 ] q x 4 ,
(7)
G n , q ( ( t x ) 2 ; x ) =2 x 2 ( 1 q [ n + 1 ] q [ n + 2 ] q ) ,
(8)
G n , q ( ( t x ) 4 ; x ) = ( 1 + [ n + 3 ] q [ n + 4 ] q q 4 [ n ] q [ n 1 ] q 4 [ n + 3 ] q q 3 / 2 [ n ] q 4 q [ n + 1 ] q [ n + 2 ] q ) x 4 .
(9)

Proof From Lemma 1, taking k=0,1,2,3,4, we get (6) and (7). Since G n , q ( ( t x ) 2 ;x)= G n , q ( t 2 ;x)2x G n , q (t;x)+ x 2 and G n , q ( ( t x ) 4 ;x)= G n , q ( t 4 ;x)4x G n , q ( t 3 ;x)+6 x 2 G n , q ( t 2 ;x)4 x 3 G n , q (t;x)+ x 4 , using (6), (7), we obtain (8) and (9) easily. □

Remark 1 Note that for q 1 , from Lemma 2, we have

G n , 1 ( 1 ; x ) = 1 , G n , 1 ( t ; x ) = n + 1 n + 2 x , G n , 1 ( t 2 ; x ) = x 2 , G n , 1 ( ( t x ) 2 ; x ) = 2 n + 2 x 2 ,

which is the moments and central moments of the operators defined in (1).

3 Local approximation

In this section we establish direct and local approximation theorems in connection with the operators G n , q (f,x).

We denote the space of all real-valued continuous bounded functions f defined on the interval [0,) by C B [0,). The norm on the space C B [0,) is given by f=sup{|f(x)|:x[0,)}.

Further, let us consider Peetre’s K-functional

K 2 (f,δ)= inf g W 2 { f g + δ g } ,

where δ>0 and W 2 ={g C B [0,): g , g C B [0,)}.

For f C B [0,), the modulus of continuity of second order is defined by

ω 2 (f,δ)= sup 0 < h δ sup x [ 0 , ) | f ( x + 2 h ) 2 f ( x + h ) + f ( x ) | .

By [[11], p.177] there exists an absolute constant C>0 such that

K 2 (f,δ)C ω 2 (f, δ ),δ>0.
(10)

Our first result is a direct local approximation theorem for the operators G n , q (f,x).

Theorem 1 For q(0,1), x[0,) and f C B [0,), we have

| G n , q ( f ; x ) f ( x ) | C ω 2 ( f ; α n , q ( x ) ) +ω ( f ; β n , q ( x ) ) ,
(11)

where C is a positive constant,

α n , q (x)= ( 3 4 3 q [ n + 1 ] q 4 [ n + 2 ] q ) x 2 , β n , q (x)= ( 1 q [ n + 1 ] q [ n + 2 ] q ) x.
(12)

Proof

Let us define the auxiliary operators

G ˜ n , q (f;x)= G n , q (f;x)f ( q [ n + 1 ] q [ n + 2 ] q x ) +f(x),
(13)
x[0,)

. The operators G ˜ n , q (f;x) are linear and preserve the linear functions

G ˜ n , q (tx;x)=0
(14)

(see (6)).

Let g C B 2 . By Taylor’s expansion

g(t)=g(x)+ g (x)(tx)+ x t (tu) g (u)du,t[0,),

and (14), we get

G ˜ n , q (g;x)=g(x)+ G ˜ n , q ( x t ( t u ) g ( u ) d u ; x ) .

Hence, by (13) and (8), we have

| G ˜ n , q ( g ; x ) g ( x ) | | G n , q ( x t ( t u ) g ( u ) d u ; x ) | + | q [ n + 1 ] q [ n + 2 ] q x x ( u q [ n + 1 ] q [ n + 2 ] q x ) g ( u ) d u | G n , q ( | x t ( t u ) | g ( u ) | d u | ; x ) + q [ n + 1 ] q [ n + 2 ] q x x | u q [ n + 1 ] q [ n + 2 ] q x | | g ( u ) | d u [ G n , q ( ( t x ) 2 ; x ) + ( 1 q [ n + 1 ] q [ n + 2 ] q ) 2 x 2 ] g = ( 3 q [ n + 1 ] q [ n + 2 ] q ) ( 1 q [ n + 1 ] q [ n + 2 ] q ) x 2 g 3 ( 1 q [ n + 1 ] q [ n + 2 ] q ) x 2 g .

On the other hand, by (13), (4) and (6), we have

| G ˜ n , q ( f ; x ) | | G n , q ( f ; x ) | +2ff G n , q (1;x)+2f3f.
(15)

Now (13) and (15) imply

| G n , q ( f ; x ) f ( x ) | | G ˜ n , q ( f g ; x ) ( f g ) ( x ) | + | G ˜ n , q ( g ; x ) g ( x ) | + | f ( q [ n + 1 ] q [ n + 2 ] q x ) f ( x ) | 4 f g + 3 ( 1 q [ n + 1 ] q [ n + 2 ] q ) x 2 g + ω [ f ; ( 1 q [ n + 1 ] q [ n + 2 ] q ) x ] .

Hence taking infimum on the right-hand side over all g W 2 , we get

| G n , q ( f ; x ) f ( x ) | 4 K 2 [ f ; ( 3 4 3 q [ n + 1 ] q 4 [ n + 2 ] q ) x 2 ] +ω [ f ; ( 1 q [ n + 1 ] q [ n + 2 ] q ) x ] .

By (10), for every q(0,1), we have

| G n , q ( f ; x ) f ( x ) | C ω 2 ( f ; α n , q ( x ) ) +ω ( f ; β n , q ( x ) ) ,

where α n , q (x) and β n , q (x) are defined in (12). This completes the proof of Theorem 1. □

Remark 2 Let q={ q n } be a sequence satisfying 0< q n <1 and lim n q n =1, we have lim n α n , q n =0 and lim n β n , q n (x)=0, these give us the pointwise rate of convergence of the operators G n , q n (f;x) to f(x).

4 Rate of convergence

Let B x 2 [0,) be the set of all functions f defined on [0,) satisfying the condition |f(x)| M f (1+ x 2 ), where M f is a constant depending only on f. We denote the subspace of all continuous functions belonging to B x 2 [0,) by C x 2 [0,). Also, let C x 2 [0,) be the subspace of all functions f C x 2 [0,), for which lim x f ( x ) 1 + x 2 is finite. The norm on C x 2 [0,) is f x 2 = sup x [ 0 , ) | f ( x ) | 1 + x 2 . We denote the usual modulus of continuity of f on the closed interval [0,a] (a>0) by

ω a (f,δ)= sup | t x | δ sup x , t [ 0 , a ] | f ( t ) f ( x ) | .

Obviously, for function f C x 2 [0,), the modulus of continuity ω a (f,δ) tends to zero.

Theorem 2 Let f C x 2 [0,), q(0,1) and ω a + 1 (f,δ) be the modulus of continuity on the finite interval [0,a+1][0,), where a>0. Then we have

G n , q ( f ) f C [ 0 , a ] 12 M f a 2 ( 1 + a 2 ) ( 1 q [ n + 1 ] q [ n + 2 ] q ) + 2 ω a + 1 ( f , 2 a 1 q [ n + 1 ] q [ n + 2 ] q ) .
(16)

Proof For x[0,a] and t>a+1, we have

| f ( t ) f ( x ) | M f ( 2 + x 2 + t 2 ) M f [ 2 + 3 x 2 + 2 ( t x ) 2 ] ,

hence we obtain

| f ( t ) f ( x ) | 6 M f ( 1 + a 2 ) ( t x ) 2 .
(17)

For x[0,a] and ta+1, we have

| f ( t ) f ( x ) | ω a + 1 ( f , | t x | ) ( 1 + | t x | δ ) ω a + 1 (f,δ),δ>0.
(18)

From (17) and (18), we get

| f ( t ) f ( x ) | 6 M f ( 1 + a 2 ) ( t x ) 2 + ( 1 + | t x | δ ) ω a + 1 (f,δ).
(19)

For x[0,a] and t0, by Schwarz’s inequality and Lemma 2, we have

| G n , q ( f , x ) f ( x ) | G n , q ( | f ( t ) f ( x ) | , x ) 6 M f ( 1 + a 2 ) G n , q ( ( t x ) 2 , x ) + ω a + 1 ( f , δ ) ( 1 + 1 δ G n , q ( ( t x ) 2 , x ) ) 12 M f a 2 ( 1 + a 2 ) ( 1 q [ n + 1 ] q [ n + 2 ] q ) + ω a + 1 ( f , δ ) ( 1 + 2 a δ 1 q [ n + 1 ] q [ n + 2 ] q ) .

By taking δ= 2 a 1 q [ n + 1 ] q [ n + 2 ] q , we get the assertion of Theorem 2. □

5 Weighted approximation and Voronovskaya-type asymptotic formula

Now we will discuss the weighted approximation theorem.

Theorem 3 Let the sequence q={ q n } satisfy 0< q n <1 and q n 1 as n, for f C x 2 [0,), we have

lim n G n , q n ( f ) f x 2 =0.
(20)

Proof By using the Korovkin theorem in [12], we see that it is sufficient to verify the following three conditions.

lim n G n , q n ( t v ; x ) x v x 2 ,v=0,1,2.
(21)

Since G n , q n (1;x)=1 and G n , q n ( t 2 ;x)= x 2 , (20) holds true for v=0 and v=2.

Finally, for v=1, we have

G n , q n ( t ; x ) x x 2 = sup x [ 0 , ) | G n , q n ( t ; x ) x | 1 + x 2 = ( 1 q n [ n + 1 ] q n [ n + 2 ] q n ) sup x [ 0 , ) x 1 + x 2 1 q n [ n + 1 ] q n [ n + 2 ] q n ,

since lim n q n =1, we get lim n q [ n + 1 ] q [ n + 2 ] q =1, so the condition of (21) holds for v=1 as n, then the proof of Theorem 3 is completed. □

Finally, we give a Voronovskaya-type asymptotic formula for G n , q (f;x) by means of the second and fourth central moments.

Theorem 4 Let q:={ q n } be a sequence satisfying 0< q n <1, lim n q n =1 and lim n q n n =1. For f C x 2 2 [0,), (f(x) is a twice differentiable function in [0,)), the following equality holds

lim n [ n + 2 ] q ( G n , q ( f ; x ) f ( x ) ) = f (x)x+ f (x) x 2
(22)

for every x[0,A], A>0.

Proof Let x[0,) be fixed. By the Taylor formula, we may write

f(t)=f(x)+ f (x)(tx)+ 1 2 f (x) ( t x ) 2 +r(t;x) ( t x ) 2 ,
(23)

where r(t;x) is the Peano form of the remainder, r(t;x) C x 2 [0,) and using L’Hopital’s rule, we have

lim t x r ( t ; x ) = lim t x f ( t ) f ( x ) f ( x ) ( t x ) 1 2 f ( x ) ( t x ) 2 ( t x ) 2 = lim t x f ( t ) f ( x ) f ( x ) ( t x ) 2 ( t x ) = lim t x f ( t ) f ( x ) 2 = 0 .

Applying G n , q (f;x) to (23), we obtain

[ n + 2 ] q ( G n , q ( f ; x ) f ( x ) ) = f ( x ) [ n + 2 ] q G n , q ( t x ; x ) + f ( x ) 2 [ n + 2 ] q G n , q ( ( t x ) 2 ; x ) + [ n + 2 ] q G n , q ( r ( t ; x ) ( t x ) 2 ; x ) .

By the Cauchy-Schwarz inequality, we have

G n , q ( r ( t ; x ) ( t x ) 2 ; x ) G n , q ( r 2 ( t ; x ) ; x ) G n , q ( ( t x ) 4 ; x ) .
(24)

Since r 2 (x;x)=0, then it follows from Theorem 3 that

lim n G n , q ( r 2 ( t ; x ) ; x ) = r 2 (x;x)=0.
(25)

Now, from (24), (25) and Lemma 2, we get immediately

lim n [ n + 2 ] q G n , q ( r ( t ; x ) ( t x ) 2 ; x ) =0, lim n [ n + 2 ] q G n , q (tx;x)=x,

and since q n + 1 = [ n + 2 ] q [ n + 1 ] q [ n + 2 ] q q [ n + 1 ] q [ n + 2 ] q q [ n + 1 ] q =1, we have

lim n [ n + 2 ] q G n , q ( ( t x ) 2 ; x ) = lim n [ n + 2 ] q ( 1 q [ n + 1 ] q [ n + 2 ] q ) 2 x 2 = lim n ( [ n + 2 ] q q [ n + 1 ] q ) 2 x 2 = 2 x 2 .

Theorem 4 is proved. □