Continuous and discrete Clebsch variational principles
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Abstract: The Clebsch method provides a unifying approach for deriving variational principles for continuous and discrete dynamical systems where elements of a vector space are used to control dynamics on the cotangent bundle of a Lie group emph{via} a velocity map. This paper proves a reduction theorem which states that the canonical variables on the Lie group can be eliminated, if and only if the velocity map is a Lie algebra action, thereby producing the Euler-Poincar'e (EP) equation for the vector space variables. In this case, the map from the canonical variables on the Lie group to the vector space is the standard momentum map defined using the diamond operator. We apply the Clebsch method in examples of the rotating rigid body and the incompressible Euler equations. Along the way, we explain how singular solutions of the EP equation for the diffeomorphism group (EPDiff) arise as momentum maps in the Clebsch approach. In the case of finite dimensional Lie groups, the Clebsch variational principle is discretised to produce a variational integrator for the dynamical system. We obtain a discrete map from which the variables on the cotangent bundle of a Lie group may be eliminated to produce a discrete EP equation for elements of the vector space. We give an integrator for the rotating rigid body as an example. We also briefly discuss how to discretise infinite-dimensional Clebsch systems, so as to produce conservative numerical methods for fluid dynamics.
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Cited in
(22)- Variational principles on principal fiber bundles: A geometric theory of Clebsch potentials and Lin constraints
- On Hamiltonian continuum mechanics
- Variational discretization of thermodynamical simple systems on Lie groups
- Symplectic integration of PDEs using Clebsch variables
- Variational principles for spin systems and the Kirchhoff rod
- Optimal control realizations of Lagrangian systems with symmetry
- Diffeomorphic image matching with left-invariant metrics
- Clebsch variational principles in field theories and singular solutions of covariant EPDiff equations
- On Noether's theorem for the Euler-Poincaré equation on the diffeomorphism group with advected quantities
- A novel formulation of point vortex dynamics on the sphere: geometrical and numerical aspects
- Constrained diffeomorphic shape evolution
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