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Statistical approximation properties of λ-Bernstein operators based on q-integers

  • Qing-Bo Cai EMAIL logo , Guorong Zhou and Junjie Li EMAIL logo
Published/Copyright: May 30, 2019

Abstract

In this paper, we introduce a new generalization of λ-Bernstein operators based on q-integers, we obtain the moments and central moments of these operators, establish a statistical approximation theorem and give an example to show the convergence of these operators to f(x). It can be seen that in some cases the absolute error bounds are smaller than the case of classical q-Bernstein operators to f(x).

MSC 2010: 41A10; 41A25; 41A36

1 Introduction

A generalization of Bernstein polynomials based on q-integers was proposed by Lupaş in 1987 in [1]. However, the Lupaş q-Bernstein operators are rational functions rather than polynomials. The Phillips q-Bernstein polynomials were introduced by Phillips in 1997 in [2]. After that, there are many papers mentioning the approximation properties of positive linear operators in the area of q-calculus due to its applications in the field of approximation theory, such as generalized q-Bernstein polynomials [3, 4, 5, 6], Durrmeyer type q-Bernstein operators [7, 8, 9], Kantorovich type q-Bernstein operators [10, 11, 12] and so on.

As we know, Phillips [2] defined the following q-Bernstein operators:

Bn(f;x)=i=0nbn,i(x;q)f[i]q[n]q, (1)

where bn,i(x; q) (i = 0, 1, …, n) are q-Bernstein basis functions and defined as

bn,i(x;q)=niqxis=0ni11qsx. (2)

Motivated by above work, in this paper, we introduce λ-Bernstein operators based on q-integers as

B~n,q,λ(f;x)=i=0nb~n,i(x;q,λ)f[i]q[n]q, (3)

where

b~n,0(x;q,λ)=bn,0(x;q)λ[n]q+1bn+1,1(x;q),b~n,i(x;q,λ)=bn,i(x;q)+λ[n]q2[i]q+1[n]q21bn+1,i(x;q)[n]q2q[i]q1[n]q21bn+1,i+1(x;q),(i=1,2,...,n1)b~n,n(x;q,λ)=bn,n(x;q)λ[n]q+1bn+1,n(x;q), (4)

bn,i(x; q) are defined in (2), λ ∈ [–1, 1], n ≥ 2, x ∈ [0, 1] and 0 < q ≤ 1.

Obviously, when λ = 0, n,q,0(f; x) turn out to be q-Bernstein operators defined in (1); when λ = 0, q = 1, n,1,0(f; x) turn out to be classical Bernstein operators; when q = 1, n,1,λ(f; x) turn out to be the λ-Bernstein operators which are studied by Cai, et al. in [13].

Details of q-integers can be found in [14, 15]. For any fixed real number 0 < q ≤ 1 and each nonnegative integer k, we denote q-integers by [k]q, where [k]q:=1qk1q,q1,k,q=1. Also q-factorial and q-binomial coefficients are defined as follows:

[k]q!:=[k]q[k1]q...[1]q,k=1,2,...,1,k=0,,nkq:=[n]q![k]q![nk]q!(nk0).

Now we recall the concepts of statistical convergence.

Let K be a subset of ℕ, the set of all natural numbers. The density of K is defined by

δ(K):=limn1nk=1nχK(k),

provided the limit exists [16], where χK is the characteristic function of K.

A sequence x : = {xk} is called statistically convergent to a number L, if for every ϵ > 0, δ (k ∈ ℕ: |xkL| ≥ ϵ) = 0 [17]. This convergence is denoted as st – limn→∞ xn = L.

We also recall the following theorem given by Gadjiev and Orhan [18].

Theorem 1.1

(See [18]) If the sequence of positive linear operators An : CM[a, b] → C[a, b] satisfies the conditions st – limn→∞||An(ev;⋅) – ev||C[a, b] = 0, with ev(t) = tv for v = 0, 1, 2, then for any function fCM[a, b], we have

stlimn||An(f;)f||C[a,b]=0,

where CM[a, b] denotes the space of all functions f which are continuous in [a, b] and bounded on the all positive axis.

The aims of this paper are to introduce a new generalization of λ-Bernstein operators based on q-integers and give the statistical approximation properties of these operators using the concept of statistical convergence.

The rest of this paper is organized as follows. In section 2, we give some lemmas which are needed to prove our main results. In section 3, we obtain the statistical approximation theorem and give an example to show that, in some cases, the absolute error bounds of these operators defined in (3) to f(x) are smaller than the bounds of classical q-Bernstein operators to f(x).

2 Some lemmas

In the sequel, let ev(t) = tv for v = 0, 1, 2. In order to obtain the main results, we need the following lemmas:

Lemma 2.1

Let λ ∈ [–1, 1], x ∈ [0, 1] and q ∈ (0, 1], for the operators n,q,λ(f; x), we have

B~n,q,λ(e0;x)=1. (5)

Proof

Using [n]q = 1 + q[n – 1]q, we have

i=0nb~n,i(x;q,λ)=i=0nbn,i(x;q)λ[n]q+1bn+1,1(x;q)+λ[n]q2[1]q+1[n]q21bn+1,1(x;q)λ[n]q2q[1]q1[n]q21bn+1,2(x;q)+λ[n]q2[2]q+1[n]q21bn+1,2(x;q)λ[n]q2q[2]q1[n]q21bn+1,3(x;q)+...+λ[n]q2[n1]q+1[n]q21bn+1,n1(x;q)λ[n]q2q[n1]q1[n]q21bn+1,n(x;q)λ[n]q+1bn+1,n(x;q)=i=0nbn,i(x;q)+2q[n1]q+1[n]q[n]q21λbn+1,n(x;q)λ[n]q+1bn+1,n(x;q)=i=0nbn,i(x;q)=1.

Then we can obtain (5) since n,q,λ(e0; x) = k=0n n,k(x; q, λ).□

Lemma 2.2

Let λ ∈ [–1, 1], x ∈ [0, 1] and q ∈ (0, 1], for the operators n,q,λ(f; x), we have

B~n,q,λ(e1;x)=x+[n+1]qx1xnλ[n]q[n]q12[n+1]qxλ[n]q211xn[n]q+qx1xn1+λq[n]q[n]q+11s=0n1qsxxn+1[n+1]qx1xn+λ[n]q212[n+1]qx21xn12[n+1]qxq[n]q1xn+2q[n]q1s=0n1qsxxn+1. (6)

Proof

From (3), we have

B~n,q,λ(e1;x)=i=0nb~n,i(x;q,λ)[i]q[n]q=i=1n1[i]q[n]qb~n,i(x;q,λ)+b~n,n(x;q,λ)=i=1n1[i]q[n]qbn,i(x;q)+λ[n]q2[i]q+1[n]q21bn+1,i(x;q)[n]q2q[i]q1[n]q21bn+1,i+1(x;q)+bn,n(x;q)λ[n]q+1bn+1,n(x;q)=i=0n[i]q[n]qbn,i(x;q)+λi=0n[i]q[n]q[n]q2[i]q+1[n]q21bn+1,i(x;q)λi=1n1[i]q[n]q[n]q2q[i]q1[n]q21bn+1,i+1(x;q).

As we know, for the q-Bernstein operators [2], we have i=0n[i]q[n]qbn,i(x;q)=x, then

B~n,q,λ(e1;x)=x+[n+1]qλ[n]q[n]q1i=1n[i]q[n+1]q[n+1]q![i]q![n+1i]q!xis=0ni1qsx2[n+1]qλ[n]q21i=1n[i]q2[n]q[n+1]q[n+1]q![i]q![n+1i]q!xis=0ni1qsx[n+1]qλ[n]q[n]q+1i=1n1[i]q[n+1]q[n+1]q![i+1]q![ni]q!xi+1s=0ni11qsx+2q[n+1]qλ[n]q21i=1n1[i]q2[n]q[n+1]q[n+1]q![i+1]q![ni]q!xi+1s=0ni11qsx:=x+1+2+3+4. (7)

Firstly, we have

1=[n+1]qλ[n]q[n]q1i=1n[i]q[n+1]q[n+1]q![i]q![n+1i]q!xis=0ni1qsx=[n+1]qλx[n]q[n]q1i=0n1bn,i(x;q)=[n+1]qx1xnλ[n]q[n]q1. (8)

Secondly, since [i]q2=[i]q+q[i]q[i1]q, we get

2=2[n+1]qλ[n]q21i=1n[i]q2[n]q[n+1]q[n+1]q![i]q![n+1i]q!xis=0ni1qsx=2[n+1]qλ[n]q[n]q21i=1n[i]q[n+1]q[n+1]q![i]q![n+1i]q!xis=0ni1qsx+2q[n+1]qλ[n]q21i=1n[i]q[i1]q[n+1]q[n]q[n+1]q![i]q![n+1i]q!xis=0ni1qsx=2[n+1]qλx[n]q[n]q21i=0n1bn,i(x;q)+2q[n+1]qx2λ[n]q21i=0n2bn1,i(x;q)=2[n+1]qxλ[n]q211xn[n]q+qx1xn1. (9)

Thirdly, since [i]q = [i + 1]q/q – 1/q, we have

3=[n+1]qλ[n]q[n]q+1i=1n1[i]q[n+1]q[n+1]q![i+1]q![ni]q!xi+1s=0ni11qsx=[n+1]qλq[n]q[n]q+1i=1n1[i+1]q[n+1]q[n+1]q![i+1]q![ni]q!xi+1s=0ni11qsx+λq[n]q+1[n]qi=1n1bn+1,i+1(x;q)=[n+1]qxλq[n]q[n]q+1i=1n1bn,i(x;q)+λq[n]q+1[n]qi=1n1bn+1,i+1(x;q)=[n+1]qxλq[n]q[n]q+11s=0n11qsxxn+λq[n]q[n]q+11s=0n1qsx[n+1]xs=0n11qsxxn+1=λq[n]q[n]q+11s=0n1qsxxn+1[n+1]qx1xn. (10)

Finally, since [i]q2 = [i]q[i + 1]q/q – [i]q/q, we have

4=2q[n+1]qλ[n]q21i=1n1[i]q2[n]q[n+1]q[n+1]q![i+1]q![ni]q!xi+1s=0ni11qsx=2[n+1]qλ[n]21i=0n2bn1,i(x;q)2[n+1]qxλq[n]q[n]q21i=1n1bn,i(x;q)+2λq[n]q[n]q21i=1n1bn+1,i+1(x;q)=λ[n]q212[n+1]qx21xn12[n+1]qxq[n]q1xn+2q[n]q1s=0n1qsxxn+1. (11)

Then, (6) can be obtained by (7)-(11).□

Lemma 2.3

Let λ ∈ [–1, 1], x ∈ [0, 1], n > 1 and q ∈ (0, 1], for the operators n,q,λ(f; x), we have

B~n,q,λ(e2;x)=x2+x(1x)[n]q+[n+1]qxλ[n]q[n]q1qx1xn1+1xn[n]q2[n+1]qλ[n]q[n]q21×x1xn[n]q+q(2+q)x21xn1+q3[n1]qx31xn2λq[n]q[n]q+1[n+1]qx21xn1[n+1]qx1xnq[n]q+1s=0n1qsxxn+1q[n]q+2λ[n]q[n]q21×q[n1]q[n+1]qx31xn2(1q)[n+1]qx21xn1q+[n+1]qx1xnq2[n]q1s=0n1qsxxn+1q2[n]q. (12)

Proof

From (3), we have

B~n,q,λ(e2;x)=i=0n[i]q2[n]q2b~n,i(x;q,λ)=i=0n[i]q2[n]q2bn,i(x;q)+λi=0n[i]q2[n]q2[n]q2[i]q+1[n]q21bn+1,i(x;q)λi=1n1[i]q2[n]q2[n]q2q[i]q1[n]q21bn+1,i+1(x;q).

For the q-Bernstein polynomials [2], we have i=0n[i]q2[n]q2bn,i(x;q)=x2+x(1x)[n]q, thus

B~n,q,λ(e2;x)=x2+x(1x)[n]q+λ[n]q1i=0n[i]q2[n]q2bn+1,i(x;q)2λ[n]q21i=0n[i]q3[n]q2bn+1,i(x;q)λ[n]q+1i=1n1[i]q2[n]q2bn+1,i+1(x;q)+2qλ[n]q21i=1n1[i]q3[n]q2bn+1,i+1(x;q):=x2+x(1x)[n]q+5+6+7+8. (13)

We have

5=λ[n]q1i=0n[i]q2[n]q2bn+1,i(x;q)=[n+1]qqx2λ[n]q[n]q1i=0n2bn1,i(x;q)+[n+1]qxλ[n]q2[n]q1i=0n1bn,i(x;q)=[n+1]qxλ[n]q[n]q1qx1xn1+1xn[n]q. (14)

Since [i]q3 = [i]q + q(2 + q)[i]q[i – 1]q + q3[i]q[i – 1]q[i – 2]q, we have

6=2λ[n]q21i=0n[i]q3[n]q2bn+1,i(x;q)=2[n+1]qxλ[n]q2[n]q21i=0n1bn,i(x;q)2q(2+q)[n+1]qx2λ[n]q[n]q21i=0n2bn1,i(x;q)2q3[n1]q[n+1]qx3λ[n]q[n]q21i=0n3bn2,i(x;q)=2[n+1]qλ[n]q[n]q21x1xn[n]q+q(2+q)x21xn1+q3[n1]qx31xn2. (15)

Next, since [i]q2 = [i + 1]q[i]q/q – [i + 1]q/q2 + 1/q2, we get

7=λ[n]q+1i=1n1[i]q2[n]q2bn+1,i+1(x;q)=[n+1]qx2λq[n]q[n]q+1i=0n2bn1,i(x;q)+[n+1]qxλq2[n]q2[n]q+1i=1n1bn,i(x;q)λq2[n]q2[n]q+1i=1n1bn+1,i+1(x;q)=λq[n]q[n]q+1[n+1]qx21xn1[n+1]qx1xnq[n]q+1s=0n1qsxxn+1q[n]q. (16)

Finally, by some computations, we have

[i]q3=[i+1]q[i]q[i1]q1qq2[i+1]q[i]q+[i+1]qq31q3.

Then, we obtain

8=2qλ[n]q21i=1n1[i]q3[n]q2bn+1,i+1(x;q)=2q[n1]q[n+1]qx3λ[n]q[n]q21i=0n3bn2,i(x;q)2(1q)[n+1]qx2λq[n]q[n]q21i=0n2bn1,i(x;q)+2[n+1]qxλq2[n]q2[n]q21i=1n1bn,i(x;q)2λq2[n]q2[n]q21i=1n1bn+1,i+1(x;q)=2λ[n]q[n]q21q[n1]q[n+1]qx31xn2(1q)[n+1]qx21xn1q+[n+1]qx1xnq2[n]q1s=0n1qsxxn+1q2[n]q. (17)

Using (13)-(17), we can obtain (12), Lemma 2.1 is proved.□

Remark 2.4

When λ = 0, we get the moments of q-Bernstein operators (see [2]).

Lemma 2.5

For λ ∈ [–1, 1], x ∈ [0, 1] and q ∈ (0, 1], the operators n,q,λ(f; x) are positive linear operators.

Proof

Indeed, we only need to prove n,i(t; q, λ) ≥ 0 for 0 ≤ in. For i = 0, we have

b~n,0(x;q,λ)=bn,0(x;q)λ[n]q+1bn+1,1(x;q)=s=0n11qsxλ[n]q+1[n+1]qxs=0n11qsx=s=0n11qsx1[n+1]q[n]q+1λx0,

since [n]q + 1 ≥ [n + 1]q. Similarly, we can obtain n,n(x; q, λ) ≥ 0. Then we will prove n,i(x; q, λ)≥ 0, where 1 ≤ in – 1. Actually, by (4), we have

b~n,i(x;q,λ)=bn,i(x;q)+λ[n]q2[i]q+1[n]q21bn+1,i(x;q)[n]q2q[i]q1[n]q21bn+1,i+1(x;q)=bn,i(x;q)1+λ[n]q2[i]q+1[n]q21[n+1]q[n+1i]q1qnix[n]q2q[i]q1[n]q21[n+1]q[i+1]qx.

We need to prove

1[n]q2[i]q+1[n]q21[n+1]q[n+1i]q1qnix[n]q2q[i]q1[n]q21[n+1]q[i+1]qx1. (18)

We discuss the above inequality in three cases as follows:

  1. For 1 ≤ [i]q ≤ min [n]q12q,[n]q+12, we have

    0[n+1]q[n+1i]q[n]q2[i]q+1[n]q21,[n+1]q[i+1]q[n]q2q[i]q1[n]q211.

    Then we can obtain (18) by the fact that 0 ≤ 1 – qnix, 0 ≤ x ≤ 1.

  2. For max [n]q+12,[n]q12q[i]q[n1]q, we have

    1[n+1]q[n+1i]q[n]q2[i]q+1[n]q21,[n+1]q[i+1]q[n]q2q[i]q1[n]q210.

    Then we can get (18) for 0 ≤ 1 – qnix, 0 ≤ x ≤ 1.

  3. For min[n]q+12,[n]q12q<[i]q<max[n]q+12,[n]q12q.

    If [n]q12q<[i]q<[n]q+12, we have

    0<[n]q2[i]q+1[n]q21[n+1]q[n+1i]q,[n]q2q[i]q1[n]q21[n+1]q[i+1]q12;

    If [n]q+12<[i]q<[n]q12q, we have

    12[n]q2[i]q+1[n]q21[n+1]q[n+1i]q,[n]q2q[i]q1[n]q21[n+1]q[i+1]q<0.

    Then we can get(18) in both two subcases. Therefore, we get the proof of Lemma 2.5.□

3 Main results

Let us give the following statistical approximation theorem for the operators (3).

Theorem 3.1

Let q = {qn} be a sequence satisfying st – limn→∞ qn = 1 for 0 < qn < 1. Then, for all fC[0, 1], λ ∈ [–1, 1], n > 1 and the operators n,qn,λ(f; x), we have

stlimnB~n,qn,λ(f;)f=0. (19)

Proof

By Lemma 2.1, it is clear that

stlimnB~n,qn,λ(e0;)e0C[0,1]=0. (20)

In order to obtain the desired result, using Lemma 2.5 and Theorem 1.1, we only need to prove the following equalities

stlimnB~n,qn,λ(ev;)evC[0,1]=0,v=1,2. (21)

For v = 1, using Lemma 2.2, we have

B~n,qn,λ(e1;x)e1(x)[n+1]qn[n]qn[n]qn1+2[n+1]qn[n]qn211[n]qn+1+1qn[n]qn[n]qn+1+1+[n+1]qnqn[n]qn[n]qn+1+2[n]qn21[n+1]qn+[n+1]qnqn[n]qn+1qn[n]qnqn[n+1]qn+2qn+4qn[n]qn[n]qn1+5[n]qn1+2qn[n]qn[n]qn21,

since [n + 1]qn ≤ [n]qn + 1, we obtain

B~n,qn,λ(e1;x)e1(x)6[n]qn1+3qn+4qn[n]qn[n]qn1+2qn[n]qn[n]qn21.

For a given ϵ > 0, let us define the following sets

U=k:B~k,qk,λ(e1;)e1C[0,1]ϵ;U1=k:6[k]qk1ϵ3;U2=k:3qk+4qk[k]qk[k]qk1ϵ3;U3=k:2qk[k]qk[k]qk21ϵ3.

It is obvious that UU1U2U3, which implies that

δkn:B~k,qk,λ(e1;)e1C[0,1]ϵδkn:6[k]qk1ϵ3+δkn:3qk+4qk[k]q[k]qk1ϵ3+δkn:2qk[k]qk[k]qk21ϵ3. (22)

Since st – limn→∞ qn = 1, we have

stlimn6[n]qn1=0;stlimn3qn+4qn[n]qn[n]qn1=0;stlimn2qn[n]qn[n]q21=0,

that is to say, the right hand side of (22) is zero. Hence, (21) is proved for v = 1.

For v = 2, by Lemma 2.3, we have

B~n,qn,λ(e2;x)e2(x)14[n]qn+[n+1]qn[n]qn[n]qn11+1[n]qn+2[n+1]qn[n]qn[n]qn211[n]qn+3+[n1]qn+1qn[n]qn[n]qn+1[n+1]qn+[n+1]qnqn[n]qn+1qn[n]qn+2[n]qn[n]qn21[n1]qn[n+1]qn+[n+1]qnqn+[n+1]qnqn2[n]qn+1qn2[n]qn14[n]qn+5[n]qn1+1qn[n]qn+2[n]qn[n]qn1+8[n]qn21+1qn2[n]qn2+2qn[n]qn[n]qn1+1[n]qn2[n]qn1+8[n]qn[n]qn21+1qn2[n]qn2[n]qn+1+2qn2[n]qn2[n]qn1+2[n]qn2[n]qn21+2qn2[n]qn2[n]qn21.

For a given ϵ > 0, we define the following sets

V=k:B~k,qk,λ(e2;)e2C[0,1]ϵ;V1=k:14[k]qk+5[k]qk1+1qk[k]qkϵ4;V2=k:2[k]qk[k]qk1+8[k]qk21+1qk2[k]qk2+2qk[k]qk[k]qk1ϵ4;V3=k:1[k]qk2[k]qk1+8[k]qk[k]qk21+1qk2[k]qk2[k]qk+1+2qk2[k]qk2[k]qk1ϵ4;V4=k:2[k]qk2[k]qk21+2qk2[k]qk2[k]qk21ϵ4.

Obviously, VV1V2V3V4, then one have

δkn:B~k,qk,λ(e2;)e2C[0,1]ϵδkn:14[k]qk+5[k]qk1+1qk[k]qkϵ4+δkn:2[k]qk[k]qk1+8[k]qk21+1qk2[k]qk2+2qk[k]qk[k]qk1ϵ4+δkn:1[k]qk2[k]qk1+8[k]qk[k]qk21+1qk2[k]qk2[k]qk+1+2qk2[k]qk2[k]qk1ϵ4+δkn:2[k]qk2[k]qk21+2qk2[k]qk2[k]qk21ϵ4. (23)

Since st – limn→∞ qn = 1, we obtain the following equalities

stlimn14[n]qn+5[n]qn1+1qn[n]qn=0;stlimn2[n]qn[n]qn1+8[n]qn21+1qn2[n]qn2+2qn[n]qn[n]qn1=0;stlimn1[n]qn2[n]qn1+8[n]qn[n]qn21+1qn2[n]qn2[n]qn+1+2qn2[n]qn2[n]qn1=0;stlimn2[n]qn2[n]qn21+2qn2[n]qn2[n]qn21=0,

that is, the right hand side of (23) is zero. Therefore, (21) is proved for v = 2. Theorem 3.1 is proved.□

Finally, we give an example to show the convergence of n,q,λ(f; x) to f(x) with different values of parameters, we also obtain the absolute error bounds in some cases.

Example 3.2

Let f(x) = 1 – cos(4ex), the graphs of n,q,–1(f; x) and n,q,1(f; x) with different cases of n and q are shown in Figure 1. Figure 2 shows the graphs of n,q,1(f; x) and n,q,0(f; x) with n = 10 and q = 0.9. In Table 1, we give the absolute error bounds of n,q,λ(f; x) to f(x).

Figure 1 
Convergence of B͠n,q,λ(f; x) for λ = –1, λ = 1 and different values of q and n.
Figure 1

Convergence of n,q,λ(f; x) for λ = –1, λ = 1 and different values of q and n.

Figure 2 
Convergence of B͠10,0.9,λ(f; x) for λ = 1 and λ = 0.
Figure 2

Convergence of 10,0.9,λ(f; x) for λ = 1 and λ = 0.

Table 1

The errors of the approximation of n,q,λ(f; x) to f(x).

fn,q,λ(f)∥
n = 10 n = 20 n = 50 n = 100
λ = –1 q = 0.9 0.586703 0.469244 0.425725 0.423995
q = 0.99 0.447241 0.259814 0.128908 0.082675
q = 0.999 0.438761 0.244595 0.107170 0.056663
q = 0.9999 0.437909 0.243088 0.105111 0.054359

λ = 0 q = 0.9 0.562861 0.459109 0.418998 0.417386
q = 0.99 0.432402 0.256685 0.128892 0.082737
q = 0.999 0.423813 0.241516 0.107168 0.056722
q = 0.9999 0.422953 0.240017 0.105112 0.054418

λ = 1 q = 0.9 0.539161 0.449016 0.412299 0.410807
q = 0.99 0.418391 0.253900 0.128901 0.082802
q = 0.999 0.409770 0.238817 0.107201 0.056785
q = 0.9999 0.408905 0.237324 0.105145 0.054481

One can see from Table 1 that in some cases, such as n = 10, 20 and λ = 1, the absolute error bounds of ∥fn,q,λ(f)∥ are smaller than ∥fn,q,0(f)∥, where n,q,0(f; x) are the classical q-Bernstein operators. So it is meaningful to consider the operators in the form (3).

  1. Data availability statement: The data used to support the findings of this study are included within the article.

Acknowledgement

This work is supported by the National Natural Science Foundation of China (Grant No. 11601266), the Natural Science Foundation of Fujian Province of China (Grant Nos. 2016J05017, 2016J01040), the Project for High-level Talent Innovation and Entrepreneurship of Quanzhou (Grant No. 2018C087R), the Program for New Century Excellent Talents in Fujian Province University, Fujian Provincial Scholarship for Overseas Study and the High-level Personnel of Special Support Program of Xiamen University of Technology (YKJ15030R). We also thank Fujian Provincial Key Laboratory of Data-Intensive Computing, Fujian University Laboratory of Intelligent Computing and Information Processing and Fujian Provincial Big Data Research Institute of Intelligent Manufacturing of China.

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Received: 2018-12-31
Accepted: 2019-03-12
Published Online: 2019-05-30

© 2019 Qing-Bo Cai et al., published by De Gruyter

This work is licensed under the Creative Commons Attribution 4.0 Public License.

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