In this paper we consider reduction of the stochastic Hamilton-Pontryagin principle formulated on the Pontryagin bundle of a manifold $Q$. We prove that a stochastic action invariant under the free and proper action of a Lie group $G$ drops to a reduced variational principle expressed in terms of variables of the Pontryagin bundle of the reduced space $Q/G$, the associated adjoint bundle $\tilde{\mathfrak{g}}:= (Q\times \mathfrak{g})/G$ and its dual bundle $\tilde{\mathfrak{g}}^*$. This provides a stochastic analogue of the deterministic implicit Lagrange-Poincaré reduction. The stochastic Euler-Lagrange equations drop to a set of stochastic horizontal and vertical Lagrange-Poincaré equations on $T(Q/G)\oplus T^*(Q/G)\oplus\tilde{\mathfrak{g}}\oplus\tilde{\mathfrak{g}}^*$. As examples, we consider stochastic perturbations of the rigid body with a rotor, as well as a Kaluza-Klein description of stochastic perturbations of a charged particle in a magnetic field.
Motivated by the problem of longitudinal data assimilation, e.g., in the registration of a sequence of images, we develop the higher-order framework for Lagrangian and Hamiltonian reduction by symmetry in geometric mechanics. In particular, we obtain the reduced variational principles and the associated Poisson brackets. The special case of higher order Euler-Poincaré and Lie-Poisson reduction is also studied in detail.
We deal with regular Lagrangian constrained systems which are invariant under the action of a symmetry group. Fixing a connection on the higher-order principal bundle where the Lagrangian and the (independent) constraints are defined, the higher-order Lagrange-Poincaré equations of classical mechanical systems with higher-order constraints are obtained from classical Lagrangian reduction. Higher-order Lagrange-Poincaré operator is introduced to characterize higher-order Lagrange-Poincaré equations. Interesting applications are derived as, for instance, the optimal control of an underactuated E…
This note is a continuation of our earlier articles arXiv:1612.08897 and arXiv:1709.09030, where using the dependent coordinates the local Lagrange-Poincaré equations were obtained for a mechanical system with symmetry describing the motion of two interacting scalar particles on a special Riemannian manifold (the product of the total space of the principal fiber bundle and vector space), on which a free proper and isometric action of a compact semisimple Lie group is given. Assuming the existence of the parametric representations for local sections in the principal bundle, we make the transiti…
A special case of the Lagrange-Poincaré equations for the gauge field interacting with a scalar field is obtained. For description of the dynamics on the configuration space, the adapted coordinates are used. After neglecting the group variables the obtained equations describe the evolution on the gauge orbit space of the principal fiber bundle which is related to the system under the consideration.
The Lagrange--Poincaré equations for a mechanical system which describes the interaction of two scalar particles that move on a special Riemannian manifold, consisting of the product of two manifolds, the total space of a principal fiber bundle and the vector space, are obtained. The derivation of equations is performed by using the variational principle developed by Poincaré for the mechanical systems with a symmetry. The obtained equations are written in terms of the dependent variables which, as in gauge theories, are implicitly determined by means of equations representing the local sectio…
The Lagrange--Poincaré equations for the mechanical system describing the motion of a scalar particle on a Riemannian manifold with a given free and isometric action of a compact Lie group is obtained. In an arising principle fibre bundle, the total space of which serves as a configuration space of the considered mechanical system, the local description of the reduced motion is done in terms of dependent coordinates. In obtaining of the equations we use the variational principle developed by Poincaré for the mechanical systems with a symmetry.
Using the dependent coordinates, the local Lagrange-Poincaré equations and equations for the relative equilibria are obtained for a mechanical system with a symmetry describing the motion of two interacting scalar particles on a special Riemannian manifold (the product of the total space of the principal fiber bundle and the vector space) on which a free proper and isometric action of a compact semi-simple Lie group is given. As in gauge theories, dependent coordinates are implicitly determined by means of equations representing the local sections of the principal fiber bundle.
In this paper, we make a generalization of Routh's reduction method for Lagrangian systems with symmetry to the case where not any regularity condition is imposed on the Lagrangian. First, we show how implicit Lagrange-Routh equations can be obtained from the Hamilton-Pontryagin principle, by making use of an anholonomic frame, and how these equations can be reduced. To do this, we keep the momentum constraint implicit throughout and we make use of a Routhian function defined on a certain submanifold of the Pontryagin bundle. Then, we show how the reduced implicit Lagrange-Routh equations can …
In this paper, we will see that the symplectic creed by Weinstein "everything is a Lagrangian submanifold" also holds for Hamilton-Poincaré and Lagrange-Poincaré reduction. In fact, we show that solutions of the Hamilton-Poincaré equations and of the Lagrange-Poincaré equations are in one-to-one correspondence with distinguished curves in a Lagrangian submanifold of a symplectic manifold. For this purpose, we will combine the concept of a Tulczyjew triple with Marsden-Weinstein symplectic reduction.
A Poincaré covariant Lagrange anchor is found for the non-Lagrangian relativistic wave equations of Bargmann and Wigner describing free massless fields of spin $s>1/2$ in four-dimensional Minkowski space. By making use of this Lagrange anchor, we assign a symmetry to each conservation law and perform the path-integral quantization of the theory.
This paper develops the theory of discrete Dirac reduction of discrete Lagrange-Dirac systems with an abelian symmetry group acting on the configuration space. We begin with the linear theory and, then, we extend it to the nonlinear setting using retraction compatible charts. We consider the reduction of both the discrete Dirac structure and the discrete Lagrange-Pontryagin principle, and show that they both lead to the same discrete Lagrange-Poincaré-Dirac equations. The coordinatization of the discrete reduced spaces relies on the notion of discrete connections on principal bundles. At last,…
The purpose of this paper is to define the concept of multi-Dirac structures and to describe their role in the description of classical field theories. We begin by outlining a variational principle for field theories, referred to as the Hamilton-Pontryagin principle, and we show that the resulting field equations are the Euler-Lagrange equations in implicit form. Secondly, we introduce multi-Dirac structures as a graded analog of standard Dirac structures, and we show that the graph of a multisymplectic form determines a multi-Dirac structure. We then discuss the role of multi-Dirac structures…
We formulate Euler-Poincaré and Lagrange-Poincaré equations for systems with broken symmetry. We specialize the general theory to present explicit equations of motion for nematic systems, ranging from single nematic molecules to biaxial liquid crystals. The geometric construction applies to order parameter spaces consisting of either unsigned unit vectors (directors) or symmetric matrices (alignment tensors). On the Hamiltonian side, we provide the corresponding Poisson brackets in both Lie-Poisson and Hamilton-Poincaré formulations. The explicit form of the helicity invariant for uniaxial nem…
We revisit the Lagrange and Delaunay systems of equations for the orbital elements, and point out a previously neglected aspect of these equations: in both cases the orbit resides on a certain 9-dimensional submanifold of the 12-dimensional space spanned by the orbital elements and their time derivatives. We demonstrate that there exists a vast freedom in choosing this submanifold. This freedom of choice (=freedom of gauge fixing) reveals a symmetry hiding behind Lagrange's and Delaunay's systems, which is, mathematically, analogous to the gauge invariance in electrodynamics. Just like a conve…
We study the Euler-Lagrange equations for a parameter dependent $G$-invariant Lagrangian on a homogeneous $G$-space. We consider the pullback of the parameter dependent Lagrangian to the Lie group $G$, emphasizing the special invariance properties of the associated Euler-Poincaré equations with advected parameters.
The present article deals with a formulation of the so called (vacuum) Palatini gravity as a general variational principle. In order to accomplish this goal, some geometrical tools related to the geometry of the bundle of connections of the frame bundle $LM$ are used. A generalization of Lagrange-Poincaré reduction scheme to these types of variational problems allows us to relate it with the Einstein-Hilbert variational problem. Relations with some other variational problems for gravity found in the literature are discussed.
We investigate a spatially discrete surrogate model for the dynamics of a slender, elastic, inextensible fiber in turbulent flows. Deduced from a continuous space-time beam model for which no solution theory is available, it consists of a high-dimensional second order stochastic differential equation in time with a nonlinear algebraic constraint and an associated Lagrange multiplier term. We establish a suitable framework for the rigorous formulation and analysis of the semi-discrete model and prove existence and uniqueness of a global strong solution. The proof is based on an explicit represe…
