Relative critical points (Q352519)

This paper describes a new approach to the analysis of relative equilibria of Lagrangian and Hamiltonian systems with symmetry. Those relative equilibria are critical points of certain scalar functions parameterized by the Lie algebra of the symmetry group or by its dual. The author's formulation sets aside the usual geometric structures associated with Hamiltonian or Lagrangian mechanics. This approach enables application in more general settings. This new method separates those aspects of the analysis based on symmetry from the structures (symplectic, Poisson, or variational) that connect functions to dynamics.NEWLINENEWLINENEWLINEThe key idea is to replace families of functions parameterized by the Lie algebra (or its dual) of the symmetry group by single functions on the product manifold, and to extend the adjoint (or coadjoint) action on the algebra or its dual. This leaves a fully invariant function. In contrast, the standard treatment for a system with a non-Abelian symmetry group leaves the function invariant only with respect to the isotropy subgroup corresponding to the given parameter value.NEWLINENEWLINENEWLINEThe author illustrates this new formulation with examples from several well-known mechanical systems. These include the Lagrange top, the double spherical pendulum, the free rigid body, and Riemann ellipsoids.