Non-Noether symmetries and their influence on phase space geometry
George Chavchanidze
Department of Theoretical Physics,
A. Razmadze Institute of Mathematics,
1 Aleksidze Street, Tbilisi 0193, Georgia
We disscuss some geometric aspects of the concept of non-Noether symmetry.
It is shown that in regular Hamiltonian systems such a symmetry canonically leads
to a Lax pair on the algebra of linear operators on cotangent bundle over the phase space.
Correspondence between the non-Noether symmetries and other wide spread geometric
methods of generating conservation laws such as bi-Hamiltonian formalism,
bidifferential calculi and Frölicher-Nijenhuis geometry is considered.
It is proved that the integrals of motion associated with the
continuous non-Noether symmetry are in involution whenever the
generator of the symmetry satisfies a certain Yang-Baxter type equation.
Non-Noether symmetry; Conservation law; bi-Hamiltonian system; Bidifferential calculus; Lax pair; Frölicher-Nijenhuis
operator;
70H33; 70H06; 53Z05
J. Geom. Phys. 48 (2003) 190-202
In the present paper we would like to shed more light on geometric aspects of
the concept of non-Noether symmetry and to emphasize influence of such a symmetries on the phase space geometry.
Partially the motivation for studying these issues comes from the theory of integrable models
that essentially relies on different geometric objects used for constructing conservation
laws. Among them are Frölicher-Nijenhuis
operators, bi-Hamiltonian systems, Lax pairs and bicomplexes. And it seems that the existance of these important
geometric structures could be related to the hidden non-Noether symmetries of the dynamical systems.
We would like to show how in Hamiltonian systems presence of certain non-Noether symmetries leads to the
above mentioned Lax pairs, Frölicher-Nijenhuis operators, bi-Hamiltonian structures,
bicomplexes and a number of conservation laws.
Let us first recall some basic knowledge of the Hamiltonian dynamics. The phase space of
a regular Hamiltonian system is a Poisson manifold – a smooth finite-dimensional
manifold equipped with the Poisson bivector field
subjected to the following condition
where square bracket stands for Schouten bracket or supercommutator
(for simplicity further it will be referred as commutator). In a standard manner Poisson
bivector field defines a Lie bracket on the algebra of observables
(smooth real-valued functions on phase space) called Poisson bracket:
Skew symmetry of the bivector field
provides the skew symmetry of
the corresponding Poisson bracket and the condition
(1) ensures that for every triple
of smooth
functions on the phase space the Jacobi identity
is satisfied. We also assume that the dynamical system under consideration
is regular – the bivector field
has maximal
rank, i. e. its
-th outer power, where
is a half-dimension of
the phase space, does not vanish
.
In this case
gives rise to a well known isomorphism
between the differential 1-forms and
the vector fields defined by
for every 1-form
and could be extended to higher degree
differential forms and multivector fields by linearity and multiplicativity
.
Time evolution of observables (smooth functions on phase space) is governed by the Hamilton's equation
where
is some fixed smooth function on the phase space called Hamiltonian.
Let us recall that each vector field
on the phase space generates
the one-parameter continuous group of transformations
(here
denotes Lie derivative)
that acts on the observables as follows
Such a group of transformation is called symmetry of Hamilton's equation
(5)
if it commutes with time evolution operator
in terms of the vector fields this condition means that the generator
of the group
commutes with the vector field
, i. e.
However we would like to consider more general
case where
is time dependent vector field on phase space. In this case
(8) should be replaced with
If in addition to
(8) the vector field
does not preserve Poisson
bivector field
then
is called non-Noether symmetry.
Now let us focus on non-Noether symmetries. We would like to show that the presence of
such a symmetry could essentially enrich the geometry of the phase space
and under the certain conditions could ensure integrability of the dynamical system.
Before we proceed let us recall that the non-Noether symmetry leads to a number of
integrals of motion
[4]. More precisely the
relationship between non-Noether symmetries and the conservation laws is described by
the following theorem.
Let be regular Hamiltonian system on the -dimensional
Poisson manifold . Then, if the vector field generates
non-Noether symmetry, the functions
where
are multivector fields of maximal degree constructed by means of Poisson bivector
and its Lie derivative , are integrals of motion.
By the definition
(definition is correct since the space of
degree multivector fields on
degree manifold is one dimensional).
Let us take time derivative of this expression along the vector field
,
or
but according to the Liouville theorem the Hamiltonian vector field preserves
i. e.
hence, by taking into account that
we get
and as a result
(13) yields
but since the dynamical system is regular (
)
we obtain that the functions
are integrals of motion.
Let
be
with coordinates
and Poisson bivector field
(
just denotes derivative with respect to
coordinate)
and let's take
Then the vector field
with components
satisfies
(9) condition and as a result generates symmetry of the dynamical system.
The symmetry appears to be non-Noether with Schouten bracket
equal to
calculating volume vector fields
gives rise to
and the conservation laws associated with this symmetry are just
Presence of the non-Noether symmetry not only leads to a sequence of conservation laws, but also
endows the phase space with a number of interesting geometric structures and it appears that such a
symmetry is related to many important concepts used in theory of dynamical systems.
One of the such concepts is Lax pair.
Let us recall that Lax pair of Hamiltonian system on Poisson manifold is
a pair of smooth functions on with values in some
Lie algebra such that the time evolution of is governed
by the following equation
where is a Lie bracket on . It is well known that each Lax
pair leads to a number of conservation laws. When is some matrix Lie algebra
the conservation laws are just traces of powers of
It is remarkable that each generator of the non-Noether
symmetry canonically leads to the Lax pair of a certain type.
In the local coordinates , where the bivector field
and the generator of the symmetry have the
following form
corresponding Lax pair could be calculated explicitly.
Namely we have the following theorem:
Let
be regular Hamiltonian system on the
-dimensional
Poisson manifold
.
Then, if the vector field
on
generates the non-Noether symmetry,
the following
matrix valued functions on
form the Lax pair
(27) of the dynamical system
.
Let us consider the following operator on a space of 1-forms
(here
is the isomorphism
(4)).
It is obvious that
is a linear operator and it is invariant
since time evolution commutes with both
(as far as
) and
(because
generates
symmetry). In the terms of the local coordinates
has the following form
and the invariance condition
yields
or in matrix notations
So, we have proved that the non-Noether symmetry canonically yields a Lax pair
on the algebra of linear operators on cotangent bundle over the phase space.
Let us calculate Lax matrix associated with non-Noether symmetry
(23).
Using
(30) it is easy to check that Lax matrix has eight nonzero elements
The conservation laws associated with this Lax matrix are
Now let us focus on the integrability issues. We know that
integrals of motion are associated with each generator of non-Noether
symmetry and according to the Liouville-Arnold theorem Hamiltonian system is
completely integrable if it possesses functionally independent integrals of
motion in involution (two functions and are said to be
in involution if their Poisson bracket vanishes ).
Generally speaking the conservation laws associated with symmetry might appear to be neither
independent nor involutive.
However it is reasonable to ask the question – what condition should be satisfied
by the generator of the symmetry to ensure the involutivity
() of conserved quantities?
In Lax theory such a condition is known as
Classical Yang-Baxter Equation (CYBE). Since involutivity of the conservation laws
is closely related to the integrability it is essential to have some analog of CYBE for the generator
of non-Noether symmetry. To address this issue we would like to propose the following theorem.
If the vector field
on
-dimensional
Poisson manifold
satisfies the condition
and
bivector field has maximal rank (
)
then the functions
(10) are in involution
First of all let us note that
the identity
(1) satisfied by the Poisson
bivector field
is responsible for the Liouville theorem
By taking the Lie derivative of the expression
(1)
we obtain another useful identity
This identity gives rise to the following relation
and finally condition
(39) ensures third identity
yielding Liouville theorem for
Indeed
Now let us consider two different solutions
of the equation
(18). By taking the Lie derivative of the equation
along the vector fields
and
and using Liouville theorem for
and
bivectors we obtain the following relations
and
where
is the Poisson bracket calculated by means of the bivector field
.
Now multiplying
(48) by
subtracting
(49) and using
identity
(43) gives rise to
Thus, either
or the volume field
vanishes. In the second case we can repeat
(48)-
(51) procedure for
the volume field
yielding after
iterations
that according to our
assumption (that the dynamical system is regular) is not true.
As a result we arrived at
(52) and by the simple
interchange of indices
we get
Finally by comparing
(52) and
(53) we obtain that
the functions
are in involution with respect to the both
Poisson structures (since
)
and according to
(19) the same is true for the integrals of motion
.
Each generator of non-Noether symmetry satisfying equation
(39) endows
dynamical system with the bi-Hamiltonian structure – couple (
)
of compatible (
)
Poisson (
)
bivector fields.
One can check that the non-Noether symmetry
(23) satisfies
condition
(39) and the bivector fields
and
defined by
(20) and
(24) form bi-Hamiltonian system
.
Another concept that is often used in theory of dynamical systems and could
be related to the non-Noether symmetry is the bidifferential calculus (bicomplex approach).
Recently A. Dimakis and F. Müller-Hoissen
applied bidifferential calculi to the wide range of integrable models
including KdV hierarchy, KP equation, self-dual Yang-Mills equation,
Sine-Gordon equation, Toda models, non-linear Schrödinger
and Liouville equations. It turns out that these models can be effectively
described and analyzed using the bidifferential calculi
[1],
[2].
Under the bidifferential calculus we mean the graded algebra of differential forms
(
denotes the space of
-degree differential forms)
equipped with a couple of differential operators
satisfying
conditions (see
[2]).
It is interesting that if generator of the non-Noether symmetry satisfies
equation
(39) then we are able to construct an invariant bidifferential calculus
of a certain type. This construction is summarized in the following theorem:
Let
be regular Hamiltonian system on the Poisson manifold
.
Then, if the vector field
on
generates the non-Noether symmetry
and satisfies the equation
(39), the differential operators
form invariant bidifferential calculus
(
)
over the graded algebra of differential forms on
.
First of all we have to show that
and
are really differential operators , i.e., they are linear maps from
into
, satisfy derivation property and
are nilpotent (
).
Linearity is obvious and follows from the linearity of the Schouten bracket
and
maps. Then, if
is a
-degree form
maps it on
-degree multivector field and
the Schouten brackets
and
result the
-degree multivector fields that are mapped on
-degree
differential forms by
.
So,
and
are linear maps from
into
.
Derivation property follows from the same feature of the Schouten bracket
and linearity of
and
maps.
Now we have to prove the nilpotency of
and
.
Let us consider
as a result of the property
(41) and the Jacobi identity for
bracket.
In the same manner
according to the property
(45) of
and the Jacobi identity.
Thus, we have proved that
and
are differential operators
(in fact
is ordinary exterior differential and the expression
(57) is its well known representation in terms of Poisson bivector field).
It remains to show that the compatibility condition
is fulfilled. Using definitions of
and the Jacobi identity we get
as far as
(43) is satisfied.
So,
and
form the bidifferential calculus over the graded
algebra of differential forms.
It is also clear that the bidifferential calculus
is invariant, since both
and
commute with time evolution
operator
.
The symmetry
(23) endows
with bicomplex structure
where
is ordinary
exterier derivative while
is defined by
and is extended to whole De Rham complex by linearity, derivation property and
compatibility property
. The conservation laws
and
defined by
(38)
form the simpliest Lenard scheme
Finally we would like to reveal some features of the operator
(31) and to show how Frölicher-Nijenhuis geometry could arise in
Hamiltonian system that possesses certain non-Noether symmetry.
From the geometric properties of the tangent valued forms we know
that the traces of powers of a linear operator
on tangent bundle are in involution whenever its Frölicher-Nijenhuis torsion
vanishes, i. e. whenever for arbitrary vector fields
the condition
is satisfied.
Torsionless forms are also called Frölicher-Nijenhuis operators and are widely used in
theory of integrable models. We would like to show
that each generator of non-Noether symmetry satisfying equation
(39)
canonnically leads to invariant Frölicher-Nijenhuis operator on tangent
bundle over the phase space. Strictly speaking we have the following theorem.
Let
be regular Hamiltonian system on the Poisson manifold
.
If the vector field
on
generates the non-Noether symmetry
and satisfies the equation
(39) then the linear operator, defined for
every vector field
by equation
is invariant Frölicher-Nijenhuis operator on
.
Invariance of
follows from the invariance of the
defined by
(31)
(note that for arbitrary 1-form vector field
and vector field
contraction
has the property
,
so
is actually transposed to
).
It remains to show that the condition
(39) ensures vanishing of the
Frölicher-Nijenhuis torsion
of
, i.e. for arbitrary vector fields
we must get
First let us introduce the following auxiliary 2-forms
Using the realization
(57) of the differential
and the property
(1) yields
Similarly, using the property
(43) we obtain
And finally, taking into account that
and using the condition
(39), we get
So the differential forms
are closed
Now let us consider the contraction of
and
.
where we used
(68) (72),
the property of the Lie derivative
and the relations of the following type
So we proved that for arbitrary vector fields
the contraction of
and
vanishes.
But since
bivector is non-degenerate
(
), its counter image
is also non-degenerate and vanishing of the contraction
(73)
implies that the torsion
itself is zero.
So we get
Note that operator
associated with non-Noether
symmetry
(23) reproduces well known Frölicher-Nijenhuis operator
(compare with
[3])
In summary let us note that the non-Noether symmetries form quite interesting
class of symmetries of Hamiltonian dynamical system and lead not only to
a number of conservation laws (that under certain conditions ensure integrability),
but also enrich the geometry of the phase space by endowing it with several important
structures, such as Lax pair, bicomplex,
bi-Hamiltonian structure, Frölicher-Nijenhuis operators etc.
The present paper attempts to emphasize deep relationship between different
concepts used in construction of conservation laws and non-Noether symmetry.
Author is grateful to Zakaria Giunashvili, George Jorjadze and
Michael Maziashvili for constructive discussions and help.
This work was supported by INTAS (00-00561).
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