Symmetry reduction of discrete Lagrangian mechanics on Lie groups

DOI10.1016/S0393-0440(00)00018-8zbMATH Open0976.70011arXivmath/0004018OpenAlexW2067980435WikidataQ115338915 ScholiaQ115338915MaRDI QIDQ1589698FDOQ1589698

Authors: Sergey Pekarsky, J. E. Marsden, Steve Shkoller 

Publication date: 20 March 2001

Published in: Journal of Geometry and Physics (Search for Journal in Brave)

Abstract: For a discrete mechanical system on a Lie group $G$ determined by a (reduced) Lagrangian $ell$ we define a Poisson structure via the pull-back of the Lie-Poisson structure on the dual of the Lie algebra ${mathfrakg}^{\ast }$ by the corresponding Legendre transform. The main result shown in this paper is that this structure coincides with the reduction under the symmetry group $G$ of the canonical discrete Lagrange 2-form $omeg{a}_{m}athbbL$ on $GimesG$. Its symplectic leaves then become dynamically invariant manifolds for the reduced discrete system. Links between our approach and that of groupoids and algebroids as well as the reduced Hamilton-Jacobi equation are made. The rigid body is discussed as an example.

Full work available at URL: https://arxiv.org/abs/math/0004018

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zbMATH Keywords

rigid bodysymmetry reductionPoisson structureLie groupLegendre transformsymmetry groupdiscrete Lagrangian mechanicssymplectic leavesLie-Poisson structurecanonical discrete Lagrange 2-formdynamically invariant manifoldsreduced Hamilton-Jacobi equationdiscrete Euler-Poincaré equations

Mathematics Subject Classification ID

Free motion of a rigid body (70E15) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Lagrange's equations (70H03) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

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Cited In (30)

• Lagrangian reduction of discrete mechanical systems by stages
• Lagrangians, gauge functions, and Lie groups for semigroup of second-order differential equations
• Variational integrators for mechanical control systems with symmetries
• Discrete formulation for the dynamics of rods deforming in space
• Gauge reduction in covariant field theory
• Title not available (Why is that?)
• Discrete nonholonomic Lagrangian systems on Lie groupoids
• Lagrangian reduction of forced discrete mechanical systems
• Lie group spectral variational integrators
• Discrete second-order Euler-Poincaré equations: applications to optimal control
• Rigid body with rotors and reduction by stages
• Reduction of dynamics with Lie group analysis
• Variational Methods for Fluid-Structure Interactions
• Second-order variational problems on Lie groupoids and optimal control applications
• High order symmetric algorithms for nonlinear dynamical systems with non-holonomic constraints
• Discrete mechanics on unitary octonions
• An overview and recent advances in vector and scalar formalisms: space/time discretizations in computational dynamics -- a unified approach
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• Discrete Dirac reduction of implicit Lagrangian systems with abelian symmetry groups
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• Reduction by symmetries of contact mechanical systems on Lie groups
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• The local description of discrete mechanics
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• On some aspects of the discretization of the Suslov problem
• Discrete dynamical systems over double cross-product Lie groupoids

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