The purpose of this paper is to describe geometrically discrete Lagrangian and Hamiltonian Mechanics on Lie groupoids. From a variational principle we derive the discrete Euler-Lagrange equations and we introduce a symplectic 2-section, which is preserved by the Lagrange evolution operator. In terms of the discrete Legendre transformations we define the Hamiltonian evolution operator which is a symplectic map with respect to the canonical symplectic 2-section on the prolongation of the dual of the Lie algebroid of the given groupoid. The equations we get include as particular cases the classical discrete Euler-Lagrange equations, the discrete Euler-Poincaré and discrete Lagrange-Poincaré equations. Our results can be important for the construction of geometric integrators for continuous Lagrangian systems.
A notion of implicit difference equation on a Lie groupoid is introduced and an algorithm for extracting the integrable part (backward or/and forward) is formulated. As an application, we prove that discrete Lagrangian dynamics on a Lie groupoid $G$ may be described in terms of Lagrangian implicit difference equations of the corresponding cotangent groupoid $T^*G$. Other situations include finite difference methods for time-dependent linear differential-algebraic equations and discrete nonholonomic Lagrangian systems, as particular examples.
This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to deduce geometric integrators for continuous nonholonomic systems (reduced or not). The formalism is given in terms of Lie groupoids, specifying a discrete Lagrangian and a constraint submanifold on it. Additionally, it is necessary to fix a vector subbundle of the Lie algebroid associated to the Lie groupoid. We also discuss the existence of nonholonomic evolution operators in terms of the discrete nonholonomic Legendr…
As announced in [12], we develop a calculus of Fourier integral G-operators on any Lie groupoid G. For that purpose, we study convolability and invertibility of Lagrangian conic submanifolds of the symplectic groupoid T * G. We also identify those Lagrangian which correspond to equivariant families parametrized by the unit space G (0) of homogeneous canonical relations in (T * Gx \ 0) x (T * G x \ 0). This allows us to select a subclass of Lagrangian distributions on any Lie groupoid G that deserve the name of Fourier integral G-operators (G-FIO). By construction, the class of G-FIO contains t…
We introduce nonassociative geometric objects generalising naturally Lie groupoids and called (smooth) quasiloopoids and loopoids. We prove that the tangent bundles of smooth loopoids are canonically smooth loopoids again (it is nontrivial in the case of loopoids). We show also that this is not true if the cotangent bundles are concerned. After providing a few natural constructions, we show how the Lie-like functor associates with loopoids skew-algebroids and almost Lie algebroids and how discrete mechanics on Lie groupoids can be reformulated in the nonassociative case.
We propose a definition of symplectic 2-groupoid which includes integrations of Courant algebroids that have been recently constructed. We study in detail the simple but illustrative case of constant symplectic 2-groupoids. We show that the constant symplectic 2-groupoids are, up to equivalence, in one-to-one correspondence with a simple class of Courant algebroids that we call constant Courant algebroids. Furthermore, we find a correspondence between certain Dirac structures and Lagrangian sub-2-groupoids.
The notion of $n$-transitivity can be carried over from groups of diffeomorphisms on a manifold $M$ to groups of bisections of a Lie groupoid over $M$. The main theorem states that the $n$-transitivity is fulfilled for all $n\in\mathbb N$ by an arbitrary group of $C^r$-bisections of a Lie groupoid $Γ$ of class $C^r$, where $1\leq r\leqω$, under mild conditions. For instance, the group of all bisections of any Lie groupoid and the group of all Lagrangian bisections of any symplectic groupoid are $n$-transitive in the sense of this theorem. In particular, if $Γ$ is source connected for any arrow…
When the vacuum Einstein equations are cast in the form of hamiltonian evolution equations, the initial data lie in the cotangent bundle of the manifold MΣ of riemannian metrics on a Cauchy hypersurface Σ. As in every lagrangian field theory with symmetries, the initial data must satisfy constraints. But, unlike those of gauge theories, the constraints of general relativity do not arise as momenta of any hamiltonian group action. In this paper, we show that the bracket relations among the constraints of general relativity are identical to the bracket relations in the Lie algebroid of a groupoi…
Symplectic groupoid multiplication and Poisson integrators
Universitat Politècnica de Catalunya - BarcelonaTech (UPC)（加泰罗尼亚理工大学）；Instituto de Matemática, Universidade Federal do Rio de Janeiro（里约热内卢联邦大学数学研究所）；University of La Laguna（拉各斯大学）；ULL-CSIC Geometría Diferencial y Mecánica Geométrica（ULL-CSIC微分几何与几何力学）；Departamento de Matemáticas, Estadística e Investigación Operativa（数学、统计与运筹学系）；Instituto de Matemáticas y Aplicaciones (IMAULL)（数学与应用研究所）
We construct an infinite-dimensional symplectic 2-groupoid as the integration of an exact Courant algebroid. We show that every integrable Dirac structure integrates to a "Lagrangian" sub-2-groupoid of this symplectic 2-groupoid. As a corollary, we recover a result of Bursztyn-Crainic-Weinstein-Zhu that every integrable Dirac structure integrates to a presymplectic groupoid.
The purpose of this paper is describe Lagrangian Mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie groups, quotients by the action of a Lie group, standard tangent bundles...). In particular, we are interested in two cases: singular Lagrangian systems and vakonomic mechanics (variational constrained mechanics). Several examples illustrate the interest of these developments.
Classically time is kept fixed for infinitesimal variations in problems in mechanics. Apparently, there appears to be no mathematical justification in the literature for this standard procedure. This can be explained canonically by unveiling the intrinsic mathematical structure of time in Lagrangian mechanics. Moreover, this structure also offers a general method to deal with inertial forces.
A description of time-dependent Mechanics in terms of Lagrangian submanifolds of Dirac manifolds (in particular, presymplectic and Poisson manifolds) is presented. Two new Tulczyjew triples are discussed. The first one is adapted to the restricted Hamiltonian formalism and the second one is adapted to the extended Hamiltonian formalism.
Universidad de la Laguna（拉帕鲁纳大学）；Instituto de Ciencias Matemáticas, CSIC-UAM-UC3M-UCM（西班牙国家研究委员会-马德里自治大学-马德里理工大学-马德里康普顿斯大学数学科学研究所）；Universidad de Zaragoza（萨拉戈萨大学）
The aim of the present text is twofold: to provide a compendium of Lagrangian and Hamiltonian geometries and to introduce and investigate new analytical Mechanics: Finslerian, Lagrangian and Hamiltonian. The fundamental equations (or evolution equations) of these Mechanics are derived from the variational calculus applied to the integral of action and these can be studied by using the methods of Lagrangian or Hamiltonian geometries. More general, the notions of higher order Lagrange or Hamilton spaces have been introduced and developed by the present author. The applications led to the notions…
Let $(G\rr P, \mathsf D_G)$ be a Dirac groupoid. We show that there are natural Lie algebroid structures on the units $\lie A(\mathsf D_G)$ and on the core $I^\tg(\mathsf D_G)$ of the multiplicative Dirac structure. In the Poisson case, the Lie algebroid $A^*G$ is isomorphic to $\lie A(\mathsf D_G)$ and in the case of a closed 2-form, the $IM$-2-form is equivalent to the core algebroid that we find. We construct a vector bundle $\lie B(\mathsf D_G)\to P$ associated to any (almost) Dirac structure. In the Dirac case, $\lie B(\mathsf D_G)$ has the structure of a Courant algebroid that generalize…
We deal with Lagrangian systems that are invariant under the action of a symmetry group. The mechanical connection is a principal connection that is associated to Lagrangians which have a kinetic energy function that is defined by a Riemannian metric. In this paper we extend this notion to arbitrary Lagrangians. We then derive the reduced Lagrange-Poincare equations in a new fashion and we show how solutions of the Euler-Lagrange equations can be reconstructed with the help of the mechanical connection. Illustrative examples confirm the theory.
Motivated by a search for Lie group structures on groups of Poisson diffeomorphisms [24], we investigate linearizability of Poisson structures of Poisson groupoids around the unit section. After extending the Lagrangian neighbourhood theorem to the setting of cosymplectic Lie algebroids, we establish that dual integrations of triangular bialgebroids are always linearizable. Additionally, we show that the (non-dual) integration of a triangular Lie bialgebroid is linearizable whenever the $r$-matrix is of so-called cosymplectic type. The proof relies on the integration of a triangular Lie bialge…
In this paper we develop a geometric approach to higher order mechanics on graded bundles in both, the Lagrangian and Hamiltonian formalism, via the recently discovered weighted algebroids. We present the corresponding Tulczyjew triple for this higher order situation and derive in this framework the phase equations from an arbitrary (also singular) Lagrangian or Hamiltonian, as well as the Euler-Lagrange equations. As important examples, we geometrically derive the classical higher order Euler-Lagrange equations and analogous reduced equations for invariant higher order Lagrangians on Lie grou…
Lie groupoids and their associated algebroids arise naturally in the study of the constitutive properties of continuous media. Thus, Continuum Mechanics and Differential Geometry illuminate each other in a mutual entanglement of theory and applications. Given any material property, such as the elastic energy or an index of refraction, affected by the state of deformation of the material body, one can automatically associate to it a groupoid. Under conditions of differentiability, this material groupoid is a Lie groupoid. Its associated Lie algebroid plays an important role in the determination…
A solution for the Weinstein's Problem in the general framework of generalized Lie algebroids is the target of this paper. We present the mechanical systems called by use, mechanical (?; ?)-systems, Lagrange mechanical (?; ?)-systems or Finsler mechanical (?; ?)-systems and we develop their geometries. We obtain the canonical (?; ?)-semi(spray) associated to a mechanical (?; ?)-system. The Lagrange mechanical (?; ?)-systems are the spaces necessary to develop a Lagrangian formalism. We obtain the (?; ?)-semispray associated to a regular Lagrangian L and external force Fe and we derive the equa…
Given a standard complex semisimple Poisson Lie group $(G, π_{st})$, generalised double Bruhat cells $G^{u, v}$ and generalised Bruhat cells $O^u$ equipped with naturally defined holomorphic Poisson structures, where u, v are finite sequences of Weyl group elements, were defined and studied by Jiang Hua Lu and the author. We prove in this paper that $G^{u,u}$ is naturally a Poisson groupoid over $O^u$, extending a result from the aforementioned authors about double Bruhat cells in $(G, π_{st})$. Our result on $G^{u,u}$ is obtained as an application of a construction interesting in its own righ…
This paper develops a generalized formulation of Lagrangian mechanics on fibered manifolds, together with a reduction theory for symmetries corresponding to Lie groupoid actions. As special cases, this theory includes not only Lagrangian reduction (including reduction by stages) for Lie group actions, but also classical Routh reduction, which we show is naturally posed in this fibered setting. Along the way, we also develop some new results for Lagrangian mechanics on Lie algebroids, most notably a new, coordinate-free formulation of the equations of motion. Finally, we extend the foregoing to…
In some previous papers, a Legendre duality between Lagrangian and Hamiltonian Mechanics has been developed. The (ρ,η)-tangent application of the Legendre bundle morphism associated to a Lagrangian L or Hamiltonian H is presented. Using that, a Legendre description of Lagrangian Mechanics and Hamiltonian Mechanics is developed. Duality between Lie algebroids structure, adapted (ρ,η)-basis, distinguished linear (ρ,η)-connections and mechanical (ρ,η)-systems is the scope of this paper. In the particular case of Lie algebroids, new results are presented. In the particular case of the usual Lie al…
Butcher series for Hamiltonian Poisson integrators through symplectic groupoids
Univ Rennes, INRIA (Research team MINGuS), IRMAR (CNRS UMR 6625) and ENS Rennes（雷恩大学、INRIA（MINGuS研究团队）、IRMAR（CNRS UMR 6625）和雷恩高等师范学院）；Göttingen Mathematisches Institut, Georg-August-Universität Göttingen（哥廷根数学研究所，格奥尔格-奥古斯特哥廷根大学）
In this paper we provide a variational derivation of the Euler-Poincaré equations for systems subjected to external forces using an adaptation of the techniques introduced by Galley and others. Moreover, we study in detail the underlying geometry which is related to the notion of Poisson groupoid. Finally, we apply the previous construction to the formal derivation of the variational error for numerical integrators of forced Euler-Poincaré equations and the application of this theory to the derivation of geometric integrators for forced systems.
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.
We present a unified approach to constrained implicit Lagrangian and Hamiltonian systems based on the introduced concept of Dirac algebroid. The latter is a certain almost Dirac structure associated with the Courant algebroid on the dual $E^\ast$ to a vector bundle $E$. If this almost Dirac structure is integrable (Dirac), we speak about a Dirac-Lie algebroid. The bundle $E$ plays the role of the bundle of kinematic configurations (quasi-velocities), while the bundle $E^\ast$ - the role of the phase space. This setting is totally intrinsic and does not distinguish between regular and singular …
The general framework of Legendre transformation is extended to the case of symplectic groupoids, using an appropriate generalization of the notion of generating function (of a Lagrangian submanifold).
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^…
For a given configuration space $M$ and Lie algebra $g$ whose action is defined on $M$, the space $V_{0.0}$ of weakly $g$-invariant Lagrangians (i.e. Lagrangians whose motion equations left hand sides are $g$-invariant) is studied. The problem is reformulated in the terms of the double complex of Lie algebra cochains with values in the complex of Lagrangians. Calculating the cohomology of this complex using the method of spectral sequences, we come to the hierarchy in the space $V_{0.0}$: The double filtration $V_{s.r}$ ($s=0,1,2,3,4;r=0,1$) and the homomorphisms on every space $V_{s.r}$ are c…
The geometry of a Lagrangian mechanical system is determined by its associated evolution semispray. We uniquely determine this semispray using the symplectic structure and the energy of the Lagrange space and the external force field. We study the variation of the energy and Lagrangian functions along the evolution and the horizontal curves and give conditions by which these variations vanish. We provide examples of mechanical systems which are dissipative and for which the evolution nonlinear connection is either metric or symplectic.
In this study, it is generalized the concept of Lagrangian mechanics with constraints to complex case. To be beginning, it is considered a Kaehlerian manifold as a velocity-phase space. Then a non-holonomic constraint is given by 1-form on it. If the form is closed, it is found that the constraint is (locally) holonomic. In the result, complex analogous of some topics in constrained Lagrangian mechanical system is concluded.
Lagrangian reduction of symmetric discrete mechanical systems: a survey
Universidad Nacional de Cuyo（门多萨国立大学）；CONICET（阿根廷国家科学研究委员会）；Instituto Balseiro（巴尔塞罗研究所）；Universidad Nacional de La Plata（拉普拉塔国立大学）；Facultad de Ingeniería Universidad Nacional de La Plata（拉普拉塔国立大学工程学院）；Centro de Matemática de La Plata (CMaLP)（拉普拉塔数学中心）；Facultad de Ciencias Exactas Universidad Nacional de La Plata（拉普拉塔国立大学理学院）
The existence of the theory of `twisted cotangent bundles' (symplectic groupoids) allows to study classical mechanical systems which are generalized in the sense that their configurations form a Poisson manifold. It is natural to study from this point of view first such systems which arise in the context of some basic physical symmetry (space-time, rotations, etc.). We review results obtained so far in this direction.
In this work we introduce a category of discrete Lagrange--Poincare systems LP_d and study some of its properties. In particular, we show that the discrete mechanical systems and the discrete mechanical systems obtained by the Lagrangian reduction of symmetric discrete mechanical systems are objects in LP_d. We introduce a notion of symmetry groups for objects of LP_d and introduce a reduction procedure that is closed in the category LP_d. Furthermore, under some conditions, we show that the reduction in two steps (first by a closed normal subgroup of the symmetry group and then by the residua…
In this work we introduce a category $LDP_d$ of discrete-time dynamical systems, that we call discrete Lagrange--D'Alembert--Poincaré systems, and study some of its elementary properties. Examples of objects of $LDP_d$ are nonholonomic discrete mechanical systems as well as their lagrangian reductions and, also, discrete Lagrange-Poincaré systems. We also introduce a notion of symmetry group for objects of $LDP_d$ and a process of reduction when symmetries are present. This reduction process extends the reduction process of discrete Lagrange--Poincaré systems as well as the one defined for non…
