THE VARIATIONAL BICOMPLEX by Ian M. Anderson

318 Pages·2007·4.58 MB·English

THE VARIATIONAL BICOMPLEX
by
Ian M. Anderson
TABLE OF CONTENTS
PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
ACKNOWLEDGMENTS . . . . . . . . . . . . . . . . . . . . . vii
†
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . viii
†
chapter one
VECTOR FIELDS AND FORMS ON THE INFINITE JET
BUNDLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
A. Infinite Jet Bundles . . . . . . . . . . . . . . . . . . . . . 1
B. Vector Fields and Generalized Vector Fields . . . . . . . . . . . 6
C. Differential Forms and the Variational Bicomplex . . . . . . . . . 12
D. Prolongations of Generalized Vector Fields . . . . . . . . . . . 23
chapter two
EULER OPERATORS . . . . . . . . . . . . . . . . . . . . . . 30
A. Total Differential Operators . . . . . . . . . . . . . . . . . . 31
B. Euler Operators . . . . . . . . . . . . . . . . . . . . . . . 39
C. Some Geometric Variational Problems . . . . . . . . . . . . . 50
chapter three
FUNCTIONAL FORMS AND COCHAIN MAPS . . . . . . . . . 65
A. Functional Forms . . . . . . . . . . . . . . . . . . . . . . 66
B. Cochain Maps on the Variational Bicomplex . . . . . . . . . . . 83
C. A Lie Derivative Formula for Functional Forms . . . . . . . . . 99
preliminary draft, not complete.
†
ii
chapter four
LOCAL PROPERTIES OF THE VARIATIONAL BICOMPLEX . 111
A. Local Exactness and the Homotopy Operators
for the Variational Bicomplex . . . . . . . . . . . . . . . . 114
B. Minimal Weight Forms . . . . . . . . . . . . . . . . . . . 137
C. The Jacobian Subcomplex . . . . . . . . . . . . . . . . . . 163
chapter five
GLOBAL PROPERTIES OF THE VARIATIONAL BICOMPLEX 188
A. Horizontal Cohomology of the Variational Bicomplex . . . . . . 191
B. Vertical Cohomology of the Variational Bicomplex . . . . . . . 222
C. Generalized Poincar´e-Cartan Forms and Natural
Differential Operators on the Variational Bicomplex . . . . . . 243
D. Invariant Horizontal Homotopy Operators on
Manifolds with Symmetric Connections . . . . . . . . . . . . 258
chapter six
EQUIVARIANT COHOMOLOGY OF THE VARIATIONAL
BICOMPLEX . . . . . . . . . . . . . . . . . . . . . . . . . . .
‡
A. Gelfand-Fuks Cohomology . . . . . . . . . . . . . . . . . . . .
B. The Variational Bicomplex for Natural Riemannian
Structures . . . . . . . . . . . . . . . . . . . . . . . . . .
chapter seven
THE VARIATIONAL BICOMPLEX FOR DIFFERENTIAL
EQUATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . .
‡
A. Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . .
B. The Two Line Theorem and its Generalization . . . . . . . . . . .
C. Examples . . . . . . . . . . . . . . . . . . . . . . . . . . .
D. The Inverse Problem to the Calculus of Variations . . . . . . . . .
REFERENCES . . . . . . . . . . . . . . . . . . . . . . . . . 286
In preparation
‡
iii
PREFACE
The variational bicomplex is a double complex of differential forms defined on
the infinite jet bundle of any fibered manifold π: E M. This double complex
→
of forms is called the variational bicomplex because one of its differentials (or,
more precisely, one of the induced differentials in the first term of the first spec-
tral sequence) coincides with the classical Euler-Lagrange operator, or variational
derivative, for arbitrary order, multiple integral problems in the calculus of varia-
tions. Thus, the most immediate application of the variational bicomplex is that of
providing a simple, natural, and yet general, differential geometric development of
the variational calculus. Indeed, the subject originated within the last fifteen years
in the independent efforts of W. M. Tulczyjew and A. M. Vinogradov to resolve the
Euler-Lagrange operator and thereby characterize the kernel and the image of the
the variational derivative. But the utility of this bicomplex extents well beyond the
domainof thecalculus of variations. Indeed, it may well be thatthe moreimportant
aspects of our subject are those aspects which pertain either to the general theory
of conservation laws for differential equations, as introduced by Vinogradov, or to
the theory of characteristic (and secondary characteristic) classes and Gelfand-Fuks
cohomology, as suggested by T. Tsujishita. All of these topics are part of what I.
M. Gelfand, in his 1970 address to the International Congress in Nice, called formal
differential geometry. The variational bicomplex plays the same ubiquitous role in
formal differential geometry, that is, in the geometry of the infinite jet bundle for
the triple (E,M,π) that the de Rham complex plays in the geometry of a single
manifold M.
The purpose of this book is to develop the basic general theory of the variational
bicomplex and to present a variety of applications of this theory in the areas of dif-
ferential geometry and topology, differential equations, and mathematical physics.
This book is divided, although not explicitly, into four parts. In part one, which
consists of Chapters One, Two, and Three, the differential calculus of the varia-
tional bicomplex is presented. Besides the usual operations involving vector fields
and forms on manifolds, there are two additional operations upon which much of
the general theory rests. The first of these is the operation of prolongation which
lifts generalized vector fields on the total space E to vector fields on the infinite
jet bundle J (E). The second operation is essentially an invariant “integration
∞
by parts” operation which formalizes and extends the familiar process of forming
November 26, 1989
iv
Preface
the formal adjoint of a linear differential operator. Chapters Four and Five form
the second part of the book. Here, the local and global cohomological properties
of the variational bicomplex are studied in some detail. While the issues, methods
and applications found in these two chapters differ considerable from one another,
they both pertain to what may best be called the theory of the “free” variational
bicomplex — no restrictions are imposed on the domain of definition of the dif-
ferential forms in the variational bicomplex nor do we restrict our attention to
sub-bicomplexes of invariant forms. In short, part two of this book does for the
variational bicomplex what, by analogy, the Poincar´e Lemma does for the de Rham
complex. In Chapter Six, the third part of the book, we let G be a group of fiber
preserving transformations on E. The action of G on E lifts to a group action
on J (E). Because respects the structure of the variational bicomplex, we
∞
G G
can address the problem of computing its equivariant cohomology. The Gelfand-
G
Fuks cohomology of formal vector fields is computed anew from this viewpoint. We
also show how characteristic and secondary characteristic classes arise as equivari-
ant cohomology classes on the variational bicomplex for the bundle of Riemannian
structures. In the final part, Chapter Seven, we look at systems of differential equa-
tions on E as subbundles of J (E) and investigate the cohomology of the
∞ ∞
R R
variational bicomplex restricted to . Cohomology classes now represent vari-
∞
R
ous deformation invariants of the given system of equations — first integrals and
conservation laws, integral invariants, and variational principles. Vinogradov’s Two
Line Theorem is extended to give a sharp lower bound for the dimension of the first
nonzero cohomology groups in the variational bicomplex for . A new perspective
R
is given to J. Douglas’ solution to the inverse problem to the calculus of variations
for ordinary differential equations.
A major emphasis throughout the entire book is placed on specific examples,
problems and applications. These are test cases against which the usefulness of this
machinery can, at least for now, be judged. Through different choices of the bundle
E, the group and the differential relations , these examples also illustrate how
G R
thevariationalbicomplex canbeadaptedtomodeldiversephenomena indifferential
geometry and topology, differential equations, and mathematical physics. They
suggest possible avenues for future research.
The general prequisites for this book include the usual topics from the calculus
on manifolds and a modest familiarity with the classical variational calculus and
its role in mechanics, classical field theory, and differential geometry. In the early
chapters, someacquaintancewithsymmetrygroupmethodsindifferential equations
would surely be helpful. Indeed, we shall find ourselves referring often to Applica-
v
The Variational Bicomplex
tions of Lie Groups to Differential Equations, P. Olver’s fine text on this subject.
In Chapter Five, the global properties of the variational bicomplex are developed
using the generalized Mayer-Vietoris argument, as explained in the wonderful book,
Differential Forms in Algebraic Topology, by R. Bott and L. Tu. The classical in-
variant theory of the general linear and orthogonal groups play a central role in our
calculations of equivariant cohomology in Chapter Six.
Some of the material presented here represents new, previously unpublished re-
search by the author. This includes the results in 3B on cochain maps between
§
bicomplexes, the entire theory of minimal weight forms developed in 4B, the analy-
§
sisoflocallyvariationaloperatorsin 4C,theexistenceofglobalhomotopyoperators
§
in 5D, and the calculation of the equivariant cohomology of the variational bicom-
§
plex on Riemannian structures in Chapter Six. New proofs of some of the basic
properties of the variational bicomplex are given in 4A, 5A, and 5B and 7B.
§ § § §
Also, many of the specific examples and applications of the variational bicomplex
are presented here for the first time.
vi
ACKNOWLEDGMENTS
It has taken a long time to research and to write this book. It is now my plea-
sure to thank those who helped to initiate this project and to bring this work to
completion. Its genesis occurred, back in the fall of 1983, with a seemingly innocu-
ous suggestion by Peter Olver concerning the use of the higher Euler operators to
simplify the derivation of the horizontal homotopy operators for the variational bi-
complex. Over time this idea developed into the material for sections 2A, 2B and
§ §
5D. The general outline of the book slowly emerged from series of lectures given
§
at the University of Utah in the fall of 1984, at the University of Waterloo in Jan-
uary, 1987 and during the Special Year in Differential Geometry at the University
of North Carolina, Chapel Hill, 1987–88. My thanks to Hugo Rossi, Niky Kamran,
and Robbie Gardner for providing me with these opportunities.
Other personal acknowledgments ...
Summer research support through grants MCS–8503768 and MCS–870833 from
the National Science Foundation, as well as the encouragement anonymously pro-
vided by NSF’s peer review system, is gratefully acknowledged.
Ian Anderson
Logan, Utah
vii
INTRODUCTION
Although the formal introduction of our subject can be attributed to to the work
of Tulczyjew [70], Vinogradov [74], [75], and Tsujishita [68], it may nevertheless be
argued that the origins of the variational bicomplex are to be found in an article,
written just over a hundred years ago, by the mathematical physicist H. Helm-
holtz [32]. Helmholtz sought new applications of the powerful Hamiltonian-Jacobi
method for the integration of the equations of mechanics and so, to this end, he for-
mulated the problem of characterizing those systems of differential equations which
are derivable from a variational principle. This is the inverse problem to the calcu-
lus of variations. While Helmholtz restricted his attention to the inverse problem
for second order ordinary differential equations, others soon thereafter ([33], [11],
[40]) treated the inverse problem for higher order systems of partial differential
equations. By the turn of the century the following facts were known.
(i) The Lagrangian L for the given system of equations is not unique. In fact,
since the Euler-Lagrange operator E annihilates divergences of vector fields
(e.g., total time derivatives in the case of mechanics) another Lagrangian, with
identical Euler-Lagrange expressions, can be obtained by adding a divergence
to the original Lagrangian L.
(ii) There are certain necessary local integrability conditions, henceforth called the
Helmholtz conditions H, which a system of equations must satisfy in order to
be derivable from a variational principle. For example, in the case of linear
differential equations, the Helmholtz conditions coincide with those conditions
for formal self-adjointness. For special classes of equations, it was shown that
the Helmholtz conditions are sufficient for the local existence of a Lagrangian.
These two facts can be summarized symbolically by the following naive sequence of
spaces and maps:
Div Euler
Vector Fields Lagrangians (0.1)
{ } −−−−→ { } −−−La−g−ra−n−g−e→
Helm-
Diff. Equations Diff. Operators .
{ } −−h−o−lt−z→ { }
In the parlance of homological algebra, this sequence is a cochain complex in that
the composition of successive maps yields zero, i.e.,
E(DivX) = 0 and H(E(L)) = 0.
viii
The Variational Bicomplex
The variational bicomplex is the full extension and proper differential geometric
realization of the complex (0.1).
The first step towards a complete definition of the variational bicomplex is a
description of the mathematical data from which it is constructed. This data varies
in accordance with the specific application at hand; however, for most situations
the following is prescribed:
(i) a fibered manifold π: E M;
→
(ii) a transformation group G on E; and
(iii) A set of differential relations on the local sections of E.
R
The purpose of this introductory survey is to illustrate how this data arises in some
familiar contexts and to present some specific examples of cohomology classes in the
variational bicomplex. But, in order to do justice to these examples, it is necessary
to be to briefly introduce some notation and definitions and to be more precise
with regards to the sequence (0.1). A detailed description of our basic notation and
definitions is given in Chapter One.
Given the fibered manifold π: E M, we construct the infinite jet bundle
→
π : J (E) M
M∞ ∞ →
of jets of local sections of M. If x M, then the fiber (π ) 1(x) in J (E) consists
∈ M∞ − ∞
of equivalence classes, denoted by j (s)(x), of local sections s on E. If V and V
∞ 1 2
are two neighborhoods of x in M and if
s : V E and s : V E
1 1 2 2
→ →
are local sections, then s and s are equivalent local sections if their partial deriva-
1 2
tives to all orders agree at x. If the dimension of M is n and that of E is m+n,
then on E we can use local coordinates
π: (xi,uα) (xi),
→
where i = 1, 2, ..., n and α = 1, 2, ..., m. The induced coordinates on J (E) are
∞
(xi,uα,uα,uα,...),
i ij
where
∂sα ∂2sα
uα j (s)(x) = (x), uα j (s)(x) = (x),
i ∞ ∂xi ij ∞ ∂xi∂xj
! " ! "
ix
Introduction
and so on.
The variational bicomplex is a double complex of differential forms on J (E)
∞
and while it is not difficult to define (see Chapter 1) it suffices for the purposes of
this introduction to focus on that edge of the variational bicomplex consisting of
horizontal forms. A horizontal p form ω is a differential p form on J (E) which,
∞
in any system of local coordinates, is of the form
ω = A dxj1 dxj2 ...dxjp,
j1j2···jp ∧ ∧
where the coefficients
A = A (xi,uα,uα,uα,...)
i ij
··· ···
are smooth functions on J (U). In particular, a horizontal n form
∞
λ = L(xi,uα,uα,uα,...)ν,
i ij
where ν = dx1 dx2 dxn, is a Lagrangian for a variational problem on E. The
∧ ···∧
associated fundamental integral is defined on all sections s: M E (assuming for
→
the moment that such sections exist and, in addition, that M is compact) by
I[s] = j∞(s)(x) ∗λ.
#
M! "
We denote the space of all horizontal p forms on J (E) by p(J (E)). For p < n,
∞ ∞
E
there is a differential
d : p(J (E)) p+1(J (E))
H E ∞ → E ∞
called the horizontal exterior derivative or total exterior derivative. On functions
d coincides with the familiar process of total differentiation; if
H
f = f(xi,uα,uα,uα,...)
i ij
then
∂f ∂f ∂f
d f = [ + uα + uα + ]dxj.
H ∂xj ∂uα j ∂uα ij ···
i
We also introduce the space n+1(J (E)) of source forms on J (E). A source
∞ ∞
E
form ∆ is an n+1 form on J (E) which, in any local system of coordinates, is of
∞
the form
∆ = P (xi,uα,uα,uα,...)duβ ν. (0.2)
β i ij ∧
x