Symmetry reduction of discrete Lagrangian mechanics on Lie groups

DOI10.1016/S0393-0440(00)00018-8MaRDI QIDQ1589698zbMATH OpenOpenAlexWikidataFDO

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)

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

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)

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.

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Cited in

(31)

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• Variational integrators for mechanical control systems with symmetries
• Lagrangians, gauge functions, and Lie groups for semigroup of second-order differential equations
• Discrete formulation for the dynamics of rods deforming in space
• Gauge reduction in covariant field theory
• scientific article; zbMATH DE number 1475028 (Why is no real title available?)
• 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
• Reduction of dynamics with Lie group analysis
• Rigid body with rotors and reduction by stages
• 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
• Conformal invariance of Mei symmetry for discrete Lagrangian systems
• An overview and recent advances in vector and scalar formalisms: space/time discretizations in computational dynamics -- a unified approach
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• Lagrangian reduction of nonholonomic discrete mechanical systems by stages
• Discrete mechanics and optimal control: An analysis
• Geometric integrators and nonholonomic mechanics
• Discrete Dirac reduction of implicit Lagrangian systems with abelian symmetry groups
• Reduction by symmetries of contact mechanical systems on Lie groups
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• The variational discretization of the constrained higher-order Lagrange-Poincaré equations
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• The local description of discrete mechanics
• Discrete variational optimal control
• On some aspects of the discretization of the Suslov problem
• Discrete dynamical systems over double cross-product Lie groupoids

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