We discuss a variational approach to the length functional and its relation to sub-Hamiltonian equations on sub-Finsler manifolds. Then, we introduce the notion of the nonholonomic sub-Finslerian structure and prove that the distributions are geodesically invariant concerning the Barthel non-linear connection. We provide necessary and sufficient conditions for the existence of the curves that are abnormal extremals; likewise, we provide necessary and sufficient conditions for normal extremals to be the motion of a free nonholonomic mechanical system, and vice versa. Moreover, we show that a coordinate-free approach for a free particle is a comparison between the solutions of the nonholonomic mechanical problem and the solutions of the Vakonomic dynamical problem for the nonholonomic sub-Finslerian structure. In addition, we provide an example of the nonholonomic sub-Finslerian structure. Finally, we show that the sub-Laplacian measures the curvature of the nonholonomic sub-Finslerian structure.
In this summary of Habilitation Thesis, it is outlined author's 18 years research activity on mathematical physics, geometric methods in particle physics and gravity, modifications and applications (after defending his PhD thesis in 1994). Ten most relevant publications are structured conventionally into three "strategic directions": 1) nonholonomic geometric flows evolutions and exact solutions for Ricci solitons and field equations in (modified) gravity theories; 2) geometric methods in quantization of models with nonlinear dynamics and anisotropic field interactions; 3) (non) commutative ge…
In this paper, it is elaborated the theory the Ricci flows for manifolds enabled with nonintegrable (nonholonomic) distributions defining nonlinear connection structures. Such manifolds provide a unified geometric arena for nonholonomic Riemannian spaces, Lagrange mechanics, Finsler geometry, and various models of gravity (the Einstein theory and string, or gauge, generalizations). We follow the method of nonholonomic frames with associated nonlinear connection structure and define certain classes of nonholonomic constraints on Riemann manifolds for which various types of generalized Finsler g…
We elaborate an unified geometric approach to classical mechanics, Riemann-Finsler spaces and gravity theories on Lie algebroids provided with nonlinear connection (N-connection) structure. There are investigated the conditions when the fundamental geometric objects like the anchor, metric and linear connection, almost sympletic and related almost complex structures may be canonically defined by a N-connection induced from a regular Lagrangian (or Hamiltonian), in mechanical models, or by generic off-diagonal metric terms and nonholonomic frames, in gravity theories. Such geometric constructio…
We study stationary configurations mimicking nonholonomic locally anisotropic black rings (for instance, with ellipsoidal polarizations and/or imbedded into solitonic backgrounds) in three/six dimensional pseudo-Finsler/ Riemannian spacetimes. In the asymptotically flat limit, for holonomic configurations, a subclass of such spacetimes contains the set of five dimensional black ring solutions with regular rotating event horizon. For corresponding parameterizations, the metrics and connections define Finsler-Einstein geometries modeled on tangent bundles, or on nonholonomic (pseudo) Riemannian …
We formulate a statistical analogy of regular Lagrange mechanics and Finsler geometry derived from Grisha Perelman's functionals generalized for nonholonomic Ricci flows. There are elaborated explicit constructions when nonholonomically constrained flows of Riemann metrics result in Finsler like configurations, and inversely, and geometric mechanics is modelled on Riemann spaces with preferred nonholonomic frame structure.
The geometry of nonholonomic bundle gerbes, provided with nonlinear connection structure, and nonholonomic gerbe modules is elaborated as the theory of Clifford modules on nonholonomic manifolds which positively fail to be spin. We explore an approach to such nonholonomic Dirac operators and derive the related Atiyah-Singer index formulas. There are considered certain applications in modern gravity and geometric mechanics of such Clifford-Lagrange/ Finsler gerbes and their realizations as nonholonomic Clifford and Riemann-Cartan modules.
We survey the geometry of Lagrange and Finsler spaces and discuss the issues related to the definition of curvature of nonholonomic manifolds enabled with nonlinear connection structure. It is proved that any commutative Riemannian geometry (in general, any Riemann--Cartan space) defined by a generic off--diagonal metric structure (with an additional affine connection possessing nontrivial torsion) is equivalent to a generalized Lagrange, or Finsler, geometry modeled on nonholonomic manifolds. This results in the problem of constructing noncommutative geometries with local anisotropy, in parti…
The notions of the interior and truncated connections of a nonholonomic manifold are introduced. A class of extended truncated connections is distinguished. For the case of a contact space with a Finsler metric, it is shown that there exists a unique extended truncated connection that satisfies additional properties. The curvature tensor of the obtained connection in the case of a sub-Riemannian space coincides with the Wagner curvature tensor that was constructed by Wagner for the case of an arbitrary nonholonomic manifold of codimension one endowed with an interior affine connection.
We propose a new framework for constructing geometric and physical models on nonholonomic manifolds provided both with Clifford -- Lie algebroid symmetry and nonlinear connection structure. Explicit parametrizations of generic off-diagonal metrics and linear and nonlinear connections define different types of Finsler, Lagrange and/or Riemann-Cartan spaces. A generalization to spinor fields and Dirac operators on nonholonomic manifolds motivates the theory of Clifford algebroids defined as Clifford bundles, in general, enabled with nonintegrable distributions defining the nonlinear connection. …
We model pseudo-Finsler geometries, with pseudo-Euclidean signatures of metrics, for two classes of four dimensional nonholonomic manifolds: a) tangent bundles with two dimensional base manifolds and b) pseudo-Riemannian/ Einstein manifolds. Such spacetimes are enabled with nonholonomic distributions and associated nonlinear connection structures and theirs metrics are solutions of the field equations in general relativity or in generalized gravity theories with nonholonomic variables. We rewrite the Schwarzschild metric in Finsler variables and use it for generating new classes of locally ani…
We formulate an approach to the geometry of Riemann-Cartan spaces provided with nonholonomic distributions defined by generic off-diagonal and nonsymmetric metrics inducing effective nonlinear and affine connections. Such geometries can be modelled by moving nonholonomic frames on (pseudo) Riemannian manifolds and describe various types of nonholonomic Einstein, Eisenhart-Moffat and Finsler-Lagrange spaces with connections compatible to a general nonsymmetric metric structure. Elaborating a metrization procedure for arbitrary distinguished connections, we define the class of distinguished line…
In this work we investigate Ricci flows of almost Kaehler structures on Lie algebroids when the fundamental geometric objects are completely determined by (semi) Riemannian metrics, or effective) regular generating Lagrange/ Finsler, functions. There are constructed canonical almost symplectic connections for which the geometric flows can be represented as gradient ones and characterized by nonholonomic deformations of Grigory Perelman's functionals. The first goal of this paper is to define such thermodynamical type values and derive almost Kähler - Ricci geometric evolution equations. The se…
We study Finsler black holes induced from Einstein gravity as possible effects of quantum spacetime noncommutativity. Such Finsler models are defined by nonholonomic frames not on tangent bundles but on (pseudo) Riemannian manifolds being compatible with standard theories of physics. We focus on noncommutative deformations of Schwarzschild metrics into locally anisotropic stationary ones with spherical/rotoid symmetry. There are derived the conditions when black hole configurations can be extracted from two classes of exact solutions depending on noncommutative parameters. The first class of m…
In this paper, we define Jacobi fields for nonholonomic mechanics using a similar characterization than in Riemannian geometry. We give explicit conditions to find Jacobi fields and finally we find the nonholonomic Jacobi equations in two equivalent ways: the first one, using an appropriate complete lift of the nonholonomic system and, in the second one, using the curvature and torsion of the associated nonholonomic connection.
The constraint reaction force of ideal nonholonomic constraints in time-dependent mechanics on a configuration bundle $Q\to R$ is obtained. Using the vertical extension of Hamiltonian formalism to the vertical tangent bundle $VQ$ of $Q\to R$, the Hamiltonian of a nonholonomic constrained system is constructed.
This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity conditions that guarantee that the dynamics of the system can be obtained as a suitable projection of the unconstrained dynamics. It is shown that one can define an almost aff-Poisson bracket on the constraint AV-bundle, which plays a prominent role in the description of nonholonomic dynamics. Moreover, these developments give a general description of nonholonomic…
Methods in Riemann-Finsler geometry are applied to investigate bi-Hamiltonian structures and related mKdV hierarchies of soliton equations derived geometrically from regular Lagrangians and flows of non-stretching curves in tangent bundles. The total space geometry and nonholonomic flows of curves are defined by Lagrangian semisprays inducing canonical nonlinear connections (N-connections), Sasaki type metrics and linear connections. The simplest examples of such geometries are given by tangent bundles on Riemannian symmetric spaces $G/SO(n)$ provided with an N-connection structure and an adap…
We present the classical Wagner construction from 1935 of the curvature tensor for completely nonholonomic manifolds in both invariant and coordinate way. The starting point is the Shouten curvature tensor for nonholonomic connection introduced by Vranceanu and Shouten. We illustrate the construction on two mechanical examples: the case of a homogeneous disc rolling without sliding on a horizontal plane and the case of a homogeneous ball rolling without sliding on a fixed sphere. In the second case we study the conditions on the ratio of diameters of the ball and the sphere to obtain a flat sp…
We construct the exponential map associated to a nonholonomic system that allows us to define an exact discrete nonholonomic constraint submanifold. We reproduce the continuous nonholonomic flow as a discrete flow on this discrete constraint submanifold deriving an exact discrete version of the nonholonomic equations. Finally, we derive a general family of nonholonomic integrators.
Nonholonomic mechanics describes the motion of systems constrained by nonintegrable constraints. One of its most remarkable properties is that the derivation of the nonholonomic equations is not variational in nature. {However, in} this paper, we prove (Theorem 1.1) that for kinetic nonholonomic {systems}, the solutions starting from a fixed point $q$ are true geodesics for a family of Riemannian metrics on the image submanifold ${\mathcal M}^{nh}_q$ of the nonholonomic exponential map. This implies a surprising result: the kinetic nonholonomic trajectories with starting point $q$, for suffici…
We study fractional configurations in gravity theories and Lagrange mechanics. The approach is based on Caputo fractional derivative which gives zero for actions on constants. We elaborate fractional geometric models of physical interactions and we formulate a method of nonholonomic deformations to other types of fractional derivatives. The main result of this paper consists in a proof that for corresponding classes of nonholonomic distributions a large class of physical theories are modelled as nonholonomic manifolds with constant matrix curvature. This allows us to encode the fractional dyna…
The book contains a collection of works on Riemann-Cartan and metric-affine manifolds provided with nonlinear connection structure and on generalized Finsler-Lagrange and Cartan-Hamilton geometries and Clifford structures modelled on such manifolds. The choice of material presented has evolved from various applications in modern gravity and geometric mechanics and certain generalizations to noncommutative Riemann-Finsler geometry. The authors develop and use the method of anholonomic frames with associated nonlinear connection structure and apply it to a number of concrete problems: constructi…
In this paper, high-order numerical integrators on homogeneous spaces will be presented as an application of nonholonomic partitioned Runge-Kutta Munthe-Kaas (RKMK) methods on Lie groups. A homogeneous space $M$ is a manifold where a group $G$ acts transitively. Such a space can be understood as a quotient $M \cong G/H$, where $H$ a closed Lie subgroup, is the isotropy group of each point of $M$. The Lie algebra of $G$ may be decomposed into $\mathfrak{g} = \mathfrak{m} \oplus \mathfrak{h}$, where $\mathfrak{h}$ is the subalgebra that generates $H$ and $\mathfrak{m}$ is a subspace. Thus, varia…
In this paper, we explore dynamics of the nonholonomic system called vakonomic mechanics in the context of Lagrange-Dirac dynamical systems using a Dirac structure and its associated Hamilton-Pontryagin variational principle. We first show the link between vakonomic mechanics and nonholonomic mechanics from the viewpoints of Dirac structures as well as Lagrangian submanifolds. Namely, we clarify that Lagrangian submanifold theory cannot represent nonholonomic mechanics properly, but vakonomic mechanics instead. Second, in order to represent vakonomic mechanics, we employ the space $TQ\times V^…
The goal of this paper is to encode equivalently the fractional Lagrange dynamics as a nonholonomic almost Kahler geometry. We use the fractional Caputo derivative generalized for nontrivial nonlinear connections (N-connections) originally introduced in Finsler geometry, with further developments in Lagrange and Hamilton geometry and, in our approach, with fractional derivatives. For fundamental geometric objects induced canonically by regular Lagrange functions, we construct compatible almost symplectic forms and linear connections completely determined by a "prime" Lagrange (in particular, F…
We consider a natural mechanical system on a Finsler manifold and study its \emph{curvature} using the intrinsic Jacobi equations (called \emph{Jacobi curves}) along the extremals of the least action of the system. The curvature for such a system is expressed in terms of the Riemann curvature and the Chern curvature (involving the gradient of the potential) of the Finsler manifold and the Hessian of the potential w.r.t. a Riemannian metric induced from the Finslerian metric. As an application, we give sufficient conditions for the Hamiltonian flows of the least action to be hyperbolic and show…
Methods from the geometry of nonholonomic manifolds and Lagrange-Finsler spaces are applied in fractional calculus with Caputo derivatives and for elaborating models of fractional gravity and fractional Lagrange mechanics. The geometric data for such models are encoded into (fractional) bi-Hamiltonian structures and associated solitonic hierarchies. The constructions yield horizontal/vertical pairs of fractional vector sine-Gordon equations and fractional vector mKdV equations when the hierarchies for corresponding curve fractional flows are described in explicit forms by fractional wave maps …
