Tom Mestdag, Bavo Langerock
In order to obtain a framework in which both non-holonomic mechanical systems and non-holonomic mechanical systems with symmetry can be described, we introduce in this paper the notion of a Lagrangian system on a subbundle of a Lie algebroid.
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This paper presents a geometric description on Lie algebroids of Lagrangian systems subject to nonholonomic constraints. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We define the notion of nonholonomically constrained system, and characterize regularity conditions that guarantee the dynamics of the system can be obtained as a suitable projection of the unconstrained dynamics. The proposed novel formalism provides new insights into the geometry of nonholonomic systems, and allows us to treat in a unified way a variety of situations, includ…
A Lie groupoid, called \textit{second-order non-holonomic material Lie groupoid}, is associated in a natural way to any Cosserat media. This groupoid is used to give a new definition of homogeneity which does not depend on a reference crystal. The corresponding Lie algebroid, called \textit{second-order non-holonomic material Lie algebroid}, is used to characterize the homogeneity property of the material. We also relate these results with the previously ones in terms of non-holonomic second-order $\overline{G}$-structures.
We will prove that the generalized Lie algebroid is a distinguished example by Lie algebroid. The generality of it with respect to the Lie algebroid is similar with the generality of the pull-back vector bundle with respect to the vector bundle. Next, we will prove that the proof of Theorem 3.1 from [15] is a misconception and the mentioned Theorem has no validity. Finally, we anatomize an optimal control problem solvable in the generalized Lie algebroid framework whereas Lie algebroid instrumentation can not solve it.
In this paper, first we introduce the notion of a $\VB$-Lie $2$-algebroid, which can be viewed as the categorification of a $\VB$-Lie algebroid. The tangent prolongation of a Lie $2$-algebroid is a $\VB$-Lie $2$-algebroid naturally. We show that after choosing a splitting, there is a one-to-one correspondence between $\VB$-Lie $2$-algebroids and flat superconnections of a Lie 2-algebroid on a 3-term complex of vector bundles. Then we introduce the notion of a $\VB$-$\LWX$ 2-algebroid, which can be viewed as the categorification of a $\VB$-Courant algebroid. We show that there is a one-to-one c…
In this paper, first we modify the definition of a Hom-Lie algebroid introduced by Laurent-Gengoux and Teles and give its equivalent dual description. Many results that parallel to Lie algebroids are given. In particular, we give the notion of a Hom-Poisson manifold and show that there is a Hom-Lie algebroid structure on the pullback of the cotangent bundle of a Hom-Poisson manifold. Then we give the notion of a Hom-Lie bialgebroid, which is a natural generalization of a purely Hom-Lie bialgebra and a Lie bialgebroid. We show that the base manifold of a Hom-Lie bialgebroid is a Hom-Poisson man…
We introduce and study a class of Lie algebroids associated to faithful modules which is motivated by the notion of cotangent Lie algebroids of Poisson manifolds. We also give a classification of transitive Lie algebroids and describe Poisson algebras by using the notions of algebroid and Lie connections.
Weighted Lie algebroids were recently introduced as Lie algebroids equipped with an additional compatible non-negative grading, and represent a wide generalisation of the notion of a VB -algebroid. There is a close relation between two term representations up to homotopy of Lie algebroids and VB - algebroids. In this paper we show how this relation generalises to weighted Lie algebroids and in doing so we uncover new and natural examples of higher term representations up to homotopy of Lie algebroids. Moreover, we show how the van Est theorem generalises to weighted objects.
A theorem of Maurer-Cartan type for Lie algebroids is presented. Suppose that any vector subbundle of a Lie algebroid is called interior differential system (IDS) for that Lie algebroid. A theorem of Cartan type is obtained. Extending the classical notion of exterior differential system (EDS) to Lie algebroids, a theorem of Cartan type is obtained.
We examine Lie (super)algebroids equipped with a homological section, i.e., an odd section that `self-commutes', we refer to such Lie algebroids as inner Q-algebroids: these provide natural examples of suitably "superised" Q-algebroids in the sense of Mehta. Such Lie algebroids are a natural generalisation of Q-manifolds and Lie superalgebras equipped with a homological element. Amongst other results, we show that, via the derived bracket formalism, the space of sections of an inner Q-algebroid comes equipped with an odd Loday-Leibniz bracket.
In some previous papers, a geometric description of Lagrangian Mechanics on Lie algebroids has been developed. In the present paper, we give a Hamiltonian description of Mechanics on Lie algebroids. In addition, we introduce the notion of a Lagrangian submanifold of a symplectic Lie algebroid and we prove that the Lagrangian (Hamiltonian) dynamics on Lie algebroids may be described in terms of Lagrangian submanifolds of symplectic Lie algebroids. The Lagrangian (Hamiltonian) formalism on Lie algebroids permits to deal with Lagrangian (Hamiltonian) functions not defined necessarily on tangent (…
We consider homotopy actions of a Lie algebroid on a graded manifold, defined as suitable $L_{\infty}$-algebra morphisms. On the "semi-direct product" we construct a homological vector field that projects to the Lie algebroid. Our main theorem states that this construction is a bijection. Since several classical geometric structures can be described by homological vector fields as above, we can display many explicit examples, involving Lie algebroids (including extensions, representations up to homotopy and their cocycles) as well as transitive Courant algebroids.
We prove that "generalized Lie algebroid", a geometric object which appeared recently in the literature, is a misconception.
We introduce the notion of the modular class of a Lie algebroid equipped with a Nambu structure. In particular, we recover the modular class of a Nambu-Poisson manifold $M$ with its Nambu tensor $Λ$ as the modular class of the tangent Lie algebroid $TM$ with Nambu structure $Λ.$ We show that many known properties of the modular class of a Nambu-Poisson manifold that of a Lie algebropid extend to the setting of a Lie algebroid with Nambu structure. Finally, we prove that for a large class of Nambu-Poisson manifolds considered as tangent Lie algebroids with Nambu structures, the associated modul…
In this paper we study the local description of spaces of forms on transitive Lie algebroids. We use this local description to introduce global structures like metrics, $\ast$-Hodge operation and integration along the algebraic part of the transitive Lie algebroid (its kernel). We construct a Čech-de Rham bicomplex with a Leray-Serre spectral sequence. We apply the general theory to Atiyah Lie algebroids and to derivations on a vector bundle.
For any Lie algebroid A, its 1-jet bundle JA is a Lie algebroid naturally and there is a representation π: JA ->DA. Denote by dJ the corresponding coboundary operator. In this paper, we realize the deformation cohomology of a Lie algebroid A introduced by M. Crainic and I. Moerdijk as the cohomology of a subcomplex (Γ(Hom(^\bulletJA,A)DA), dJ) of the cochain complex (Γ(Hom(^\bulletJA,A)), dJ).
We introduce the concept of a higher algebroid, generalizing the notions of an algebroid and a higher tangent bundle. Our ideas are based on a description of (Lie) algebroids as vector bundle comorphisms - differential relations of a special kind. In our approach higher algebroids are vector bundle comorphism between graded-linear bundles satisfying natural axioms. We provide natural examples and discuss applications in geometric mechanics.
As a continuation of previous papers, we study the concept of a Lie algebroid structure on an affine bundle by means of the canonical immersion of the affine bundle into its bidual. We pay particular attention to the prolongation and various lifting procedures, and to the geometrical construction of Lagrangian-type dynamics on an affine Lie algebroid.
The paper presents the geometry of Lie algebroids and its applications to optimal control. The first part deals with the theory of Lie algebroids, connections on Lie algebroids and dynamical systems defined on Lie algebroids (mainly Lagrangian and Hamiltonian systems). In the second part we use the framework of Lie algebroids in the study of distributional systems (drift less control affine systems) with holonomic or nonholonomic distributions.
This paper studies differential graded modules and representations up to homotopy of Lie $n$-algebroids, for general $n\in\mathbb{N}$. The adjoint and coadjoint modules are described, and the corresponding split versions of the adjoint and coadjoint representations up to homotopy are explained. In particular, the case of Lie 2-algebroids is analysed in detail. The compatibility of a Poisson bracket with the homological vector field of a Lie $n$-algebroid is shown to be equivalent to a morphism from the coadjoint module to the adjoint module, leading to an alternative characterisation of non-de…
The language of Lagrangian submanifolds is used to extend a geometric characterization of the inverse problem of the calculus of variations on tangent bundles to regular Lie algebroids. Since not all closed sections are locally exact on Lie algebroids, the Helmholtz conditions on Lie algebroids are necessary but not sufficient, so they give a weaker definition of the inverse problem. As an application the Helmholtz conditions on Atiyah algebroids are obtained so that the relationship between the inverse problem and the reduced inverse problem by symmetries can be described. Some examples and c…
Omni-Lie algebroids are generalizations of Alan Weinstein's omni-Lie algebras. A Dirac structure in an omni-Lie algebroid $\dev E\oplus \jet E$ is necessarily a Lie algebroid together with a representation on $E$. We study the geometry underlying these Dirac structures in the light of reduction theory. In particular, we prove that there is a one-to-one correspondence between reducible Dirac structures and projective Lie algebroids in $\huaT=TM\oplus E$; we establish the relation between the normalizer $N_{L}$ of a reducible Dirac structure $L$ and the derivation algebra $\Der(\pomnib (L))$ of …
For any regular Lie algebroid $A$, the kernel $K$ and the image $F$ of its anchor map $ρ_A$, together with $A$ itself fit into a short exact sequence, called Atiyah sequence, of Lie algebroids. We prove that Atiyah and Todd classes of dg manifolds arising from regular Lie algebroids respect the Atiyah sequence. That is, the Atiyah and Todd classes of $A$ restrict to the Atiyah and Todd classes of the bundle $K$ of Lie algebras on the one hand, and project onto the Atiyah and Todd classes of the integrable distribution $F \subseteq T_M$ on the other hand.
We show how to reduce, under certain regularities conditions, a Poisson-Nijenhuis Lie algebroid to a symplectic-Nijenhuis Lie algebroid with nondegenerate Nijenhuis tensor. We generalize the work done by Magri and Morosi for the reduction of Poisson-Nijenhuis manifolds. The choice of the more general framework of Lie algebroids is motivated by the geometrical study of some reduced bi-Hamiltonian systems. An explicit example of reduction of a Poisson-Nijenhuis Lie algebroid is also provided.
We study the extension of a Lie algebroid by a representation up to homotopy, including semidirect products of a Lie algebroid with such representations. The extension results in a higher Lie algebroid. We give exact Courant algebroids and string Lie 2-algebras as examples of such extensions. We then apply this to obtain a Lie 2-groupoid integration of an exact Courant algebroid.
Lie n-algebroids and Lie infinity algebroids are usually thought of exclusively in supergeometric or algebraic terms. In this work, we apply the higher derived brackets construction to obtain a geometric description of Lie n-algebroids by means of brackets and anchors. Moreover, we provide a geometric description of morphisms of Lie n-algebroids over different bases, give an explicit formula for the Chevalley-Eilenberg differential of a Lie n-algebroid, compare the categories of Lie n-algebroids and NQ-manifolds, and prove some conjectures of Sheng and Zhu [SZ11].
We show how the relation between $Q$-manifolds and Lie algebroids extends to ``higher'' or ``non-linear'' analogs of Lie algebroids. We study the identities satisfied by a new algebraic structure that arises as a replacement of operations on sections of a Lie algebroid. When the base is a point, we obtain a generalization of Lie superalgebras.
The $L_\infty$-algebra is an algebraic structure suitable for describing deformation problems. In this paper we construct one $L_\infty$-algebra, which turns out to be a differential graded Lie algebra, to control the deformations of Lie algebroids and a second one to control the deformations of Lie subalgebroids. We also combine these two $L_\infty$-algebras into one to control the simultaneous deformations of a Lie algebroid and its Lie subalgebroids. The results generalize the deformation theory of Lie algebra and Lie subalgebras. Applications of our results include deformations of foliatio…
Given a Lie algebroid with a representation, we construct a graded Lie algebra whose Maurer-Cartan elements characterize relative Rota-Baxter operators on Lie algebroids. We give the cohomology of relative Rota-Baxter operators and study infinitesimal deformations and extendability of order $n$ deformations to order $n+1$ deformations of relative Rota-Baxter operators in terms of this cohomology theory. We also construct a graded Lie algebra on the space of multi-derivations of a vector bundle whose Maurer-Cartan elements characterize left-symmetric algebroids. We show that there is a homomorp…
In this paper, we construct a homotopy Poisson algebra of degree 3 associated to a split Lie 2-algebroid, by which we give a new approach to characterize a split Lie 2-bialgebroid. We develop the differential calculus associated to a split Lie 2-algebroid and establish the Manin triple theory for split Lie 2-algebroids. More precisely, we give the notion of a strict Dirac structure and define a Manin triple for split Lie 2-algebroids to be a CLWX 2-algebroid with two transversal strict Dirac structures. We show that there is a one-to-one correspondence between Manin triples for split Lie 2-alg…
We introduce the notion of G-algebroid, generalising both Lie and Courant algebroids, as well as the algebroids used in $E_{n(n)}\times\mathbb{R}^+$ exceptional generalised geometry for $n\in\{3,\dots,6\}$. Focusing on the exceptional case, we prove a classification of "exact" algebroids and translate the related classification of Leibniz parallelisable spaces into a tractable algebraic problem. After discussing the general notion of Poisson-Lie duality, we show that the Poisson-Lie U-duality is compatible with the equations of motion of supergravity.
In this paper, we introduce the notion of a pre-symplectic algebroid, and show that there is a one-to-one correspondence between pre-symplectic algebroids and symplectic Lie algebroids. This result is the geometric generalization of the relation between left-symmetric algebras and symplectic (Frobenius) Lie algebras. Although pre-symplectic algebroids are not left-symmetric algebroids, they still can be viewed as the underlying structures of symplectic Lie algebroids. %We study three classes of pre-symplectic algebroids in detail. Then we study exact pre-symplectic algebroids and show that the…
In this paper, first we give a detailed study on the structure of a transitive Lie 2-algebroid and describe a transitive Lie 2-algebroid using a morphism from the tangent Lie algebroid TM to a strict Lie 3-algebroid constructed from derivations. Then we introduce the notion of a quadratic Lie 2-algebroid and define its first Pontryagin class, which is a cohomology class in H^5(M). Associated to a CLWX 2-algebroid, there is a quadratic Lie 2-algebroid naturally. Conversely, we show that the first Pontryagin class of a quadratic Lie 2-algebroid is the obstruction class of the existence of a CLWX…
Let M be a manifold carrying the action of a Lie group G, and A a Lie algebroid on M equipped with a compatible infinitesimal G-action. Out of these data we construct an equivariant Lie algebroid cohomology and prove for compact G a related localization formula. As an application we prove a Bott-type formula.
We define and examine the notion of a Killing section of a Riemannian Lie algebroid as a natural generalisation of a Killing vector field. We show that the various expression for a vector field to be Killing naturally generalise to the setting of Lie algebroids. As an application we examine the internal symmetries of a class of sigma models for which the target space is a Riemannian Lie algebroid. Critical points of these sigma models are interpreted as generalised harmonic maps.
It is shown that the Euler-Lagrange equations for a Lagrangian system on a Lie algebroid are obtained as the equations for the critical points of the action functional defined on a Banach manifold of curves. The theory of reduction and the relation with Lagrange multiplier method are also studied.
Poisson structure on predual of Banach Lie algebroid
本文在Banach李代数胚的预对偶丛上构造线性Poisson括号，作为对偶丛线性次Poisson结构研究的补充，还讨论了奇异Banach李代数胚的存在性并给出相关例子与情形分析。
Hamilton Lie algebroids over Dirac structures and sigma models
本文提出Hamilton李代数和动量截面作为Dirac结构上的推广，应用于构造sigma模型，扩展了Poisson流形上的Hamilton结构。
We show how to extend the construction of Tulczyjew triples to Lie algebroids via graded manifolds. We also provide a generalisation of triangular Lie bialgebroids as higher Poisson and Schouten structures on Lie algebroids.
We generalize the $(n+1)$-dimensional twisted $R$-Poisson topological sigma model with flux on a target Poisson manifold to a Lie algebroid. Analyzing consistency of constraints in the Hamiltonian formalism and the gauge symmetry in the Lagrangian formalism, geometric conditions of the target space to make the topological sigma model consistent are identified. The geometric condition is an universal compatibility condition of a Lie algebroid with the multi-symplectic structure. This condition is a generalization of the momentum map theory of a Lie group and is regarded as a generalization of t…
We define a general notion of abstract double Lie algebroid. We show (1) that the double Lie algebroid of a double Lie groupoid is a double Lie algebroid in this sense; (2) that the double cotangent constructed from Lie algebroid structures on a vector bundle A and its dual A* is a double Lie algebroid if and only if (A, A*) is a Lie bialgebroid; (3) that a vacant double Lie algebroid structure is equivalent to a matched pair structure on the side Lie algebroids.
This paper has been withdrawn by UCHINO.
This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of systems includes mechanical systems subject to holonomic and nonholonomic constraints, mechanical systems with symmetry and mechanical systems evolving on semidirect products. We introduce the notions of linear connection, symmetric product and geodesically invariant subbundle on a Lie algebroid. We present appropriate tests for various notions of accessibi…
This paper provides an alternative, much simpler, definition for Li-Bland's LA-Courant algebroids, or Poisson Lie 2-algebroids, in terms of split Lie 2-algebroids and self-dual 2-representations. This definition generalises in a precise sense the characterisation of (decomposed) double Lie algebroids via matched pairs of 2-representations. We use the known geometric examples of LA-Courant algebroids in order to provide new examples of Poisson Lie 2-algebroids, and we explain in this general context Roytenberg's equivalence of Courant algebroids with symplectic Lie 2-algebroids. We study furthe…
A hom-Lie algebroid is a vector bundle together with a Lie algebroid like structure which is twisted by a homomorphism. In this paper we use the idea of representations up to homotopy of Lie algebroids to construct a same structure for hom-Lie algebroids and we will explain how representations up to homotopy of length 1 are related to extensions of hom-Lie algebroids.
We give a new proof of the equivalence between the existence of a complete action of a Lie algebroid on a surjective submersion and its integrability. The main tools in our approach are double Lie groupoids and multiplicative foliations, our proof relies on a simple characterization of those vacant double Lie groupoids which induce a Lie groupoid structure on their orbit spaces.
A VB-algebroid is essentially defined as a Lie algebroid object in the category of vector bundles. There is a one-to-one correspondence between VB-algebroids and certain flat Lie algebroid superconnections, up to a natural notion of equivalence. In this setting, we are able to construct characteristic classes, which in special cases reproduce characteristic classes constructed by Crainic and Fernandes. We give a complete classification of regular VB-algebroids, and in the process we obtain another characteristic class of Lie algebroids that does not appear in the ordinary representation theory…
Almost Lie algebroids are generalizations of Lie algebroids, when the Jacobiator is not necessary null. A simple example is given, for which a Lie algebroid bracket or a Courant bundle is not possible for the given anchor, but a natural extension of the bundle and the new anchor allows a Lie algebroid bracket. A cohomology and related characteristic classes of an almost Lie algebroid are also constructed. We prove that these characteristic classes are all pull-backs of the characteristic classes of the base space, as in the case of a Lie algebroid.
We develop a theory of Lie algebroids over differentiable stacks that extends the standard theory of Lie algebroids over manifolds. In particular we show that Lie algebroids satisfy descent for submersions, define the category of Lie algebroids over a differentiable stack, construct a cohomology theory for these objects, and explain the relation to the theory of $\mathcal{LA}$-groupoids. We construct a number of examples.
We define Lie and Courant algebroids on Fréchet manifolds. Moreover, we construct a Dirac structure on the generalized tangent bundle of a Fréchet manifold and show that it inherits a Fréchet Lie algebroid structure. We show that the Lie algebroid cohomology of the $\bb$-cotangent bundle Lie algebroid of a weakly symplectic Fréchet manifold $M$ is the Lichnerowicz-Poisson cohomology of $M$.
Constructions of $3$-Lie algebroids
本文通过由有限族微分算子和对偶截面生成的联络，研究李代数胚和$3$-李代数胚的构造，给出判定条件并应用于泊松李代数胚。
We define covariant Lie derivatives acting on vector-valued forms on Lie algebroids and study their properties. This allows us to obtain a concise formula for the Frölicher-Nijenhuis bracket on Lie algebroids.
We define involution algebroids which generalise Lie algebroids to the abstract setting of tangent categories. As a part of this generalisation the Jacobi identity which appears in classical Lie theory is replaced by an identity similar to the Yang-Baxter equation. Every classical Lie algebroid has the structure of an involution algebroid and every involution algebroid in a tangent category admits a Lie bracket on the sections of its underlying bundle. As an illustrative application we take the first steps in developing the homotopy theory of involution algebroids.
The core diagram of a double Lie algebroid consists in the core of the double Lie algebroid, together with the two core-anchor maps to the sides of the double Lie algebroid. If these two core anchors are surjective, then the double Lie algebroid and its core diagram are called transitive. This paper establishes an equivalence between transitive double Lie algebroids, and transitive core diagrams over a fixed base manifold. In other words, it proves that a transitive double Lie algebroid is completely determined by its core diagram. The comma double Lie algebroid associated to a morphism of Lie…
We first define the concept of Lie algebroid in the convenient setting. In reference to the finite dimensional context, we adapt the notion of prolongation of a Lie algebroid over a fibred manifold to a convenient Lie algebroid over a fibred manifold. Then we show that this construction is stable under projective and direct limits under adequate assumptions.
First, we extend the notion of second order differential equations (SODE) on a smooth manifold to anchored Banach vector bundles. Then we define the Banach Lie algebroids as Lie algebroids structures modeled on anchored Banach vector bundles and prove that they form a category.
Cartan-Lie algebroids, i.e. Lie algebroids equipped with a compatible connection, permit the definition of an adjoint representation, on the fiber as well as on the tangent of the base. We call (positive) quadratic Lie algebroids, Cartan-Lie algebroids with ad-invariant (Riemannian) metrics on their fibers and base $κ$ and $g$, respectively. We determine the necessary and sufficient conditions for a positive quadratic Lie algebroid to integrate to a Riemmanian Cartan-Lie groupoid. Here we mean a Cartan-Lie groupoid $\mathcal{G}$ equipped with a bi-invariant and inversion invariant metric $η$ o…
We prove that direct limits of finite dimensional Lie algebroids and their prolongations can be endowed with structures of convenient spaces.
Given a G-structure with connection satisfying a regularity assumption we associate to it a classifying Lie algebroid. This algebroid contains all the information about the equivalence problem and is an example of a G-structure Lie algebroid. We discuss the properties of this algebroid, the G-structure groupoids integrating it and the relationship with Cartan's realization problem.
The Chern-Simons forms for R-linear connections on Lie algebroids are considered. A generalized Chern-Simons formula for such R-linear connections is obtained. We it apply to define Chern character and secondary characteristic classes for R-linear connections of Lie algebroids.
We show that double Lie algebroids, together with a chosen linear splitting, are equivalent to pairs of 2-term representations up to homotopy satisfying compatibility conditions which extend the notion of matched pair of Lie algebroids. We discuss in detail the tangent of a Lie algebroid.
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