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Algebra of Vector Fields

This document introduces key concepts regarding the algebra of vector fields and Lie derivatives on manifolds: - Vector fields form an algebra with operations like addition and scalar multiplication. Their flow maps satisfy properties like forming a one-parameter group. - Functions on a manifold also form an algebra. Pushforward maps between function spaces induced by smooth maps preserve algebraic structure. - The Lie derivative defines vector fields as differential operators on functions. It satisfies properties like linearity and the Leibnitz rule. - The commutator of two vector fields is defined using their Lie derivatives and satisfies properties like antisymmetry.

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Vladimir Lubyshev
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171 views

Algebra of Vector Fields

This document introduces key concepts regarding the algebra of vector fields and Lie derivatives on manifolds: - Vector fields form an algebra with operations like addition and scalar multiplication. Their flow maps satisfy properties like forming a one-parameter group. - Functions on a manifold also form an algebra. Pushforward maps between function spaces induced by smooth maps preserve algebraic structure. - The Lie derivative defines vector fields as differential operators on functions. It satisfies properties like linearity and the Leibnitz rule. - The commutator of two vector fields is defined using their Lie derivatives and satisfies properties like antisymmetry.

Uploaded by

Vladimir Lubyshev
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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INTRODUCTION TO MANIFOLDS — III

Algebra of vector fields. Lie derivative(s).

1. Notations. The space of all C ∞ -smooth vector fields on a manifold M is


denoted by X(M ). If v ∈ X(M ) is a vector field, then v(x) ∈ Tx M ' Rn is its
value at a point x ∈ M .
The flow of a vector field v is denoted by v t :

∀t ∈ R vt : M → M

is a smooth map (automorphism) of M taking a point x ∈ M into the point


v t (x) ∈ M which is the t-endpoint of an integral trajectory for the field v, starting
at the point x.
♣ Problem 1. Prove that the flow maps for a field v on a compact manifold M
form a one-parameter group:

∀t, s ∈ R v t+s = v t ◦ v s = v s ◦ v t ,

and all v t are diffeomorphisms of M .


♣ Problem 2. What means the formula
¯
d ¯¯
vs = v
ds ¯s=0

and is it true?
2. Star conventions. The space of all C ∞ -smooth functions is denoted by
C ∞ (M ). If F : M → M is a smooth map (not necessary a diffeomorphism), then
there appears a contravariant map

F ∗ : C ∞ (M ) → C ∞ (M ), F ∗ : f 7→ F ∗ f, F ∗ (x) = f (F (x)).

If F : M → N is a smooth map between two different manifolds, then

F ∗ : C ∞ (N ) → C ∞ (M ).

Note that the direction of the arrows is reversed!


♣ Problem 3. Prove that C ∞ (M ) is a commutative associative algebra over
R with respect to pointwise addition, subtraction and multiplication of functions.
Prove that F ∗ is a homomorphism of this algebra (preserves all the operations). If
F : M → N , then F ∗ : C ∞ (N ) → C ∞ (M ) is a homomorphism also.

Typeset by AMS-TEX

1
2 ALGEBRA OF VECTOR FIELDS. LIE DERIVATIVE(S).

Another star is associated with differentials: if F : M1 → M2 is a diffeomor-


phism, then

∂F
F∗ : X(M1 ) → X(M2 ), v 7→ F∗ v, (F∗ v)(x) = (x) · v(x),
∂x

is a covariant (acts in the same direction) map which is:


(1) additive: F∗ (v + w) = F∗ v + F∗ w;
(2) homogeneous: ∀f ∈ C ∞ (M ) F∗ (f v) = (F ∗ )−1 f · F∗ v. (explain this for-
mula!),
Why F∗ is in general not defined, if F is just a smooth map and not a diffeomor-
phism?
3. Vector fields as differential operators.
♥ Definition. If v ∈ X(M ), then the Lie derivative Lv is

1¡ t ∗ ¢
Lv : C ∞ (M ) → C ∞ (M ), Lv f = lim (v ) f − f .
t→0 t

In coordinates:
n
f (a + tv + o(t)) − f (a) X ∂f
Lv f (a) = lim = (a)vj .
t→0 t j=1
∂xj

Properties of the Lie derivative:


(1) Lv : C ∞ (M ) → C ∞ (M ) is a linear operator:

Lv (f + g) = Lv f + Lv g, Lv (λf ) = λLv f ;

(2) the Leibnitz identity holds:

Lv (f g) = Lv f · g + f · Lv g.

(3) The Lie derivative linearly depends on v:

∀f ∈ C ∞ (M ), v, w ∈ X(M ) Lf v = f Lv , Lv+w = Lv + Lw .

♣ Problem 4. Prove that the Lie derivative is local: for any function f ∈ C ∞ (M )
and any vector field v the value Lv f (a) depends only on v(a), so that for any other
field w such that w(a) = v(a), Lv f (a) = Lw f (a).
Theorem. Any differential operator, that is, a map D : C ∞ (M ) → C ∞ (M ) satis-
fying

D(f + g) = Df + Dg, D(λf ) = λDf, D(f g) = f Dg + Df · g, (DiffOper)


INTRODUCTION TO MANIFOLDS — III 3

is a Lie derivative along a certain vector field v ∈ X.


Idea of the proof. In local coordinates any function can be written as
Xn
∂f
f (x) = f (a) + (xk − ak )fk (x), fk (a) = (a).
∂xk
k=1
Applying the Leibnitz identity, we conclude that D = Lv , where v is the vector
field with components vk = D(xk − ak ). ¤

Thus sometimes the notation


n
X ∂
v= vk (x)
∂xk
k=1

is used: such a notation understood as a differential oper-


ator, is a vector field from the geometric point of view.
4. Commutator. If v, w ∈ X(M ), then D = Lv Lw − Lw Lv is a differential
operator. Indeed, the Leibnitz formula is trivially satisfied, therefore D = Lu ,
where u ∈ X(M ).
♣ Problem 5. Check it!
♥ Definition. If Lu = Lv Lw − Lw Lv , then u is a commutator of v and w:
u = [v, w].
In coordinates:
à !
X ∂f
Lu f = Lv wk − Lw (· · ·) =
∂xk
k
X µ ∂2f ∂f ∂wk

wk vj + vj − (· · ·) =
∂xk ∂xj ∂xk ∂xj
k,j
à !
X X ∂wj X ∂vj ∂f
vk − wk ,
j
∂xk ∂xk ∂xj
k k
therefore à !
X X ∂wj X ∂vj ∂
[v, w] = vk − wk .
j
∂xk ∂xk ∂xj
k k

♣ Problem 6.
¯
∂ 2 ¯¯
(f ◦ v t ◦ ws − f ◦ ws ◦ v t ) = L[v,w] f.
∂s∂t ¯s=0,t=0

♣ Problem 7.
[v, w] = −[w, v].
♣ Problem 8. Prove the Jacobi identity
[[u, v], w] + [[v, w], u] + [[w, u], v] = 0.
4 ALGEBRA OF VECTOR FIELDS. LIE DERIVATIVE(S).

5. Lie derivation of vector fields.


♥ Definition. The Lie derivative of a vector field w along another field v is
1
Lv w = lim (v∗t w − w ◦ v t ).
t→0 t

♣ Problem 9. Check that the above definition makes sense.

Properties of the Lie derivative: if v, w ∈ X(M ), f ∈


C ∞ (M ), then:
(1) Lv v = 0.
(2) Lv is linear map from X(M ) to itself.
(3) Lv (f w) = (Lv f )w + f Lv w (the Leibnitz property).

Theorem.
Lv w = [v, w] (or [w, v]?)

Proof. Let ¯
∂ 2 ¯¯
a= (f ◦ v t ◦ ws − f ◦ ws ◦ v t ).
∂s∂t ¯s=0,t=0
Then µ ¯ ¶
1 ∂ ¯¯
a = lim (· · ·) ,
t→0 t ∂s ¯s=0
but ¯
∂ ¯¯
v t ◦ ws = v∗t w,
∂s ¯s=0
therefore ¯
∂ ¯¯
f ◦ v t ◦ ws = Lv∗t w f,
∂s ¯s=0
while ¯
∂ ¯¯
f ◦ ws ◦ v t = Lw◦vt f,
∂s ¯s=0
and finally
a = LLv w f. ¤

♣ Problem 10. Is the Lie derivative of a vector field local in the following sense:
if two fields v1 , v2 ∈ X(M ) are coinciding on an open neighborhood of a certain
point a ∈ M , then for any other field v ∈ X(M )

(Lv1 w)(a) = (Lv2 w)(a).

Is it true that the above value is determined by the (common) value vi (a)?

/black/users2/yakov/pub, filename 4.ppt


E-mail address: [email protected], [email protected]

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