Moving frames for cotangent bundles

DOI10.1016/S0034-4877(02)80021-0MaRDI QIDQ1853814zbMATH OpenFDO

Authors Kurt Ehlers, Jair Koiller, Pedro de M. Rios

Publication date 22 January 2003

Published in Reports on Mathematical Physics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math-ph/0203014

zbMATH Keywords

connectionscotangent bundlesHamiltonian dynamicsmoving framesnonholonomic systemsRiemannian geometry

Mathematics Subject Classification ID

Nonholonomic dynamical systems (37J60) Special connections and metrics on vector bundles (Hermite-Einstein, Yang-Mills) (53C07) Momentum maps; symplectic reduction (53D20) Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45)

Abstract: Cartan's moving frames method is a standard tool in riemannian geometry. We set up the machinery for applying moving frames to cotangent bundles and its sub-bundles defined by non-holonomic constraints.

Review text

A powerful tool in Riemannian geometry is the Cartan's method of moving frames. In this paper this method is used in the framework of Hamiltonian dynamics on cotangent bundles and on subbundles of cotangent bundles defined by linear nonholonomic constraints. The basic formalism, in which a co-frame on the cotangent bundle (and its dual) is defined, is described in Section 2. Using the previous results, an expression for the canonical symplectic form (and the Poisson bracket) on the cotangent bundle is derived. As a first application of the formalism, it is considered the case in which the configuration manifold is a Lie group. A second application is given for the case of principal bundles with a principal connection. Finally, in Section 5, the method of moving frames is applied to systems with nonholonomic constraints linear in the velocities, where the latter determine a subbundle of the cotangent bundle. An ``operational system is constructed for the dynamics and the almost Poisson structure induced on the constraint submanifold is computed.

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Cites work

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Cited in

(8)

• Moving coframes. II: Regularization and theoretical foundations
• A global version of the Koon-Marsden Jacobiator formula
• The Jacobiator of nonholonomic systems and the geometry of reduced nonholonomic brackets
• The geometry of nonholonomic Chaplygin systems revisited
• Nonholonomic Hamilton-Jacobi theory via Chaplygin Hamiltonization
• On completely integrable geometric evolutions of curves of Lagrangian planes
• Rubber rolling over a sphere
• Motions in G-vector bundles (linear extensions) that are locally bounded and locally separated from zero

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