On some aspects of the geometry of non integrable distributions and applications

DOI10.3934/JGM.2018017MaRDI QIDQ1734872zbMATH OpenOpenAlexWikidataFDO

Authors Miguel C. Muñoz-Lecanda

Publication date 27 March 2019

Published in Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1808.06704

zbMATH Keywords

non-involutive distributionsRiemannian curvaturesecond fundamental formtotally geodesic distributions

Mathematics Subject Classification ID

Methods of global Riemannian geometry, including PDE methods; curvature restrictions (53C21) Vector distributions (subbundles of the tangent bundles) (58A30) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Control of mechanical systems (70Q05)

Abstract: We consider a regular distribution $mathcalD$ in a Riemannian manifold $(M,g)$. The Levi-Civita connection on $(M,g)$ together with the orthogonal projection allow to endow the space of sections of $mathcalD$ with a natural covariant derivative, the intrinsic connection. Hence we have two different covariant derivatives for sections of $mathcalD$, one directly with the connection in $(M,g)$ and the other one with this intrinsic connection. Their difference is the second fundamental form of $mathcalD$ and we prove it is a significant tool to characterize the involutive and the totally geodesic distributions and to give a natural formulation of the equation of motion for mechanical systems with constraints. The two connections also give two different notions of curvature, curvature tensors and sectional curvatures, which are compared in this paper with the use of the second fundamental form.

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Cited in

(15)

• Affine connections and distributions with applications to nonholonomic mechanics
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