Lie derivative
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In mathematics, a Lie derivative, named after Sophus Lie by Władysław Ślebodziński, is a derivation on the algebra of tensor fields over a manifold M. The vector space of all Lie derivatives on M forms an infinite dimensional Lie algebra with respect to the Lie bracket defined by
- Failed to parse (Missing texvc executable; please see math/README to configure.): [A,B] = \mathcal{L}_A B = -\mathcal{L}_B A
The Lie derivatives are represented by vector fields, as infinitesimal generators of flows (active diffeomorphisms) on M. Looking at it the other way around, the group of diffeomorphisms of M has the associated Lie algebra structure, of Lie derivatives, in a way directly analogous to the Lie group theory.
More intuitively the Lie derivative evaluates the change of one vector field along the flow of another vector field.
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[edit] Definition
The Lie derivative may be defined in several equivalent ways. In this section, to keep things simple, we begin by defining the Lie derivative acting on scalar functions and vector fields. The Lie derivative can also be defined to act on general tensors, as developed later in the article.
[edit] The Lie derivative of a function
One might start by defining the Lie derivative in terms of the differential of a function. Thus, given a function Failed to parse (Missing texvc executable; please see math/README to configure.): f:M\rightarrow \mathbb{R}
and a vector field X defined on M, one defines the Lie derivative of f at point Failed to parse (Missing texvc executable; please see math/README to configure.): p\in M as
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_Xf(p)=X_p(f)=\nabla_Xf(p)
the usual derivative of f along the vector field X.
In fancier terms, this can be restated using the dual pairing between the tangent bundle and cotangent bundle of M as follows:
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_Xf(p)=df(p)\, [X(p)]
where Failed to parse (Missing texvc executable; please see math/README to configure.): df
is the differential of f. That is, Failed to parse (Missing texvc executable; please see math/README to configure.): df:M\rightarrow T^*M is the 1-form given by
- Failed to parse (Missing texvc executable; please see math/README to configure.): df = \frac{\partial f} {\partial x_a} dx^a.
Here, the Failed to parse (Missing texvc executable; please see math/README to configure.): dx_a
are the basis vectors for the tangent bundle Failed to parse (Missing texvc executable; please see math/README to configure.): TM and the Failed to parse (Missing texvc executable; please see math/README to configure.): dx^a is the dual basis in the cotangent bundle Failed to parse (Missing texvc executable; please see math/README to configure.): T^*M
. (The Einstein summation convention is implied in the formula.) Thus, the notation Failed to parse (Missing texvc executable; please see math/README to configure.): df(p)\, [X(p)]
means that the inner product of the differential of f (at point p in M) is being taken with the vector field X (at point p). Writing X in the xa coordinates,
- Failed to parse (Missing texvc executable; please see math/README to configure.): X=X^a\frac{\partial}{\partial x_a}
we have
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_Xf(p)=df(p)\, [X(p)]=X^a\frac{\partial f}{\partial x_a}
which recovers the original definition of the Lie derivative of a function.
Alternately, one might start by showing that a smooth vector field X on M defines a family of curves on M. That is, one shows that for any point p in M there exists a curve Failed to parse (Missing texvc executable; please see math/README to configure.): \gamma(t)
on M such that
- Failed to parse (Missing texvc executable; please see math/README to configure.): \frac{d\gamma}{dt}(t)=X(\gamma(t))
with Failed to parse (Missing texvc executable; please see math/README to configure.): p=\gamma(0) . The existence of solutions to this first-order ordinary differential equation is given by the Picard-Lindelöf theorem (more generally, one says the existence of such curves is given by the Frobenius theorem). One then defines the Lie derivative as
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_Xf(p)=\frac{d}{dt} f(\gamma(t)) \vert_{t=0}
.
[edit] The Lie derivative of a vector field
The Lie derivative of a function has now been defined in several ways. In each case, the Lie derivative of a function agrees with the usual idea of differentiation along a vector field from multivariable calculus. The Lie derivative can be defined for vector fields by first defining the Lie bracket of a pair of vector fields X and Y, denoted [X,Y]. There are several approaches to defining the Lie bracket, all of which are equivalent. Regardless of the chosen definition, one then defines the Lie derivative of the vector field Y to be equal to the Lie bracket of X and Y, that is,
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_X Y = [X,Y]
.
The first definition of the Lie bracket uses the local coordinate expressions of the vector fields X and Y. Let xa be coordinates on M. One starts by noting that the basis vectors for the tangent bundle can be written as Failed to parse (Missing texvc executable; please see math/README to configure.): \frac{\partial}{\partial x_a} , and so a vector field, expressed in terms of this selected set of basis vectors is written as
- Failed to parse (Missing texvc executable; please see math/README to configure.): X=X^a \frac{\partial}{\partial x_a}
One defines the Lie bracket Failed to parse (Missing texvc executable; please see math/README to configure.): [X,Y]
of a pair of vector fields as
- Failed to parse (Missing texvc executable; please see math/README to configure.): [X,Y] := (X(Y^a) - Y(X^a)) \frac{\partial}{\partial x_a} = \left(X^b \frac{\partial Y^a}{\partial x_b} - Y^b \frac{\partial X^a}{\partial x_b}\right) \frac{\partial}{\partial x_a}
The second definition is intrinsic in that it does not rely on the use of coordinates. Since a vector field can be identified with a first-order differential operator on functions, the Lie bracket of two vector fields can be defined as follows. If X and Y are two vector fields, then the Lie bracket of X and Y is also a vector field, denoted by [X,Y], defined by the equation:
- Failed to parse (Missing texvc executable; please see math/README to configure.): [X,Y](f)=X(Y(f))-Y(X(f)).
Using a local coordinate expression for X and Y, one can prove that this is equivalent to the previous definition of the Lie bracket.
Other equivalent definitions are:
- Failed to parse (Missing texvc executable; please see math/README to configure.): (\mathcal{L}_X Y)_x := \lim_{t \to 0} (\mathrm{T}(\mathrm{Fl}^X_{-t}) Y_{\mathrm{Fl}^X_t(x)} - Y_x)/t = \left.\frac{\mathrm{d}}{\mathrm{d} t}\right|_{t=0} \mathrm{T}(\mathrm{Fl}^X_{-t}) Y_{\mathrm{Fl}^X_t(x)}
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_X Y := \left.\frac{\mathrm{d}^2}{2\mathrm{d}^2 t}\right|_{t=0} \mathrm{Fl}^Y_{-t} \circ \mathrm{Fl}^X_{-t} \circ \mathrm{Fl}^Y_{t} \circ \mathrm{Fl}^X_{t} = \left.\frac{\mathrm{d}}{\mathrm{d} t}\right|_{t=0} \mathrm{Fl}^Y_{-\sqrt{t}} \circ \mathrm{Fl}^X_{-\sqrt{t}} \circ \mathrm{Fl}^Y_{\sqrt{t}} \circ \mathrm{Fl}^X_{\sqrt{t}}
[edit] The Lie derivative of differential forms
The Lie derivative can also be defined on differential forms. In this context, it is closely related to the exterior derivative. Both the Lie derivative and the exterior derivative attempt to capture the idea of a derivative in different ways. These differences can be bridged by introducing the idea of an antiderivation or equivalently an interior product, after which the relationships fall out as a set of identities.
Let M be a manifold and X a vector field on M. Let Failed to parse (Missing texvc executable; please see math/README to configure.): \omega \in \Lambda^{k+1}(M)
be a k+1-form. The interior product of X and ω is
- Failed to parse (Missing texvc executable; please see math/README to configure.): (i_X\omega) (X_1, \ldots, X_k) = \omega (X,X_1, \ldots, X_k)\,
Note that
- Failed to parse (Missing texvc executable; please see math/README to configure.): i_X:\Lambda^{k+1}(M) \rightarrow \Lambda^k(M)
and that Failed to parse (Missing texvc executable; please see math/README to configure.): i_X
is a Failed to parse (Missing texvc executable; please see math/README to configure.): \wedge
-antiderivation. That is, Failed to parse (Missing texvc executable; please see math/README to configure.): i_X
is R-linear, and
- Failed to parse (Missing texvc executable; please see math/README to configure.): i_X (\omega \wedge \eta) = (i_X \omega) \wedge \eta + (-1)^k \omega \wedge (i_X \eta)
for Failed to parse (Missing texvc executable; please see math/README to configure.): \omega \in \Lambda^k(M)
and η another differential form. Also, for a function Failed to parse (Missing texvc executable; please see math/README to configure.): f \in \Lambda^0(M)
, that is a real or complex-valued function on M, one has
- Failed to parse (Missing texvc executable; please see math/README to configure.): i_{fX} \omega = f\,i_X\omega
The relationship between exterior derivatives and Lie derivatives can then be summarized as follows. For an ordinary function f, the Lie derivative is just the contraction of the exterior derivative with the vector field X:
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_Xf = i_X df
For a general differential form, the Lie derivative is likewise a contraction, taking into account the variation in X:
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_X\omega = i_Xd\omega + d(i_X \omega)
.
The derivative of products is distributed:
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_{fX}\omega = f\mathcal{L}_X\omega + df \wedge i_X \omega
[edit] Properties
The Lie derivative has a number of properties. Let Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{F}(M)
be the algebra of functions defined on the manifold M. Then
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_X : \mathcal{F}(M) \rightarrow \mathcal{F}(M)
is a derivation on the algebra Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{F}(M) . That is, Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_X
is R-linear and
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_X(fg)=(\mathcal{L}_Xf) g + f\mathcal{L}_Xg
.
Similarly, it is a derivation on Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{F}(M) \times \mathcal{X}(M)
where Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{X}(M)
is the set of vector fields on M:
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_X(fY)=(\mathcal{L}_Xf) Y + f\mathcal{L}_X Y
which is may also be written in the equivalent notation
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_X(f\otimes Y)= (\mathcal{L}_Xf) \otimes Y + f\otimes \mathcal{L}_X Y
where the tensor product symbol Failed to parse (Missing texvc executable; please see math/README to configure.): \otimes
is used to emphasize the fact that the product of a function times a vector field is being taken over the entire manifold.
Additional properties are consistent with that of the Lie bracket. Thus, for example, considered as a derivation on a vector field,
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_X [Y,Z] = [\mathcal{L}_X Y,Z] + [Y,\mathcal{L}_X Z]
one finds the above to be just the Jacobi identity. Thus, one has the important result that the space of vector fields over M, equipped with the Lie bracket, forms a Lie algebra.
The Lie derivative also has important properties when acting on differential forms. Let α and β be two differential forms on M, and let X and Y be two vector fields. Then
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_X(\alpha\wedge\beta)=(\mathcal{L}_X\alpha)\wedge\beta+\alpha\wedge(\mathcal{L}_X\beta)
- Failed to parse (Missing texvc executable; please see math/README to configure.): [\mathcal{L}_X,\mathcal{L}_Y]\alpha:= \mathcal{L}_X\mathcal{L}_Y\alpha-\mathcal{L}_Y\mathcal{L}_X\alpha=\mathcal{L}_{[X,Y]}\alpha
- Failed to parse (Missing texvc executable; please see math/README to configure.): [\mathcal{L}_X,i_Y]\alpha=[i_X,\mathcal{L}_Y]\alpha=i_{[X,Y]}\alpha,
where i denotes interior multiplication between vector fields and differential forms.
[edit] Lie derivative of tensor fields
More generally, if we have a differentiable tensor field T of rank Failed to parse (Missing texvc executable; please see math/README to configure.): (p,q)
and a differentiable vector field Y (i.e. a differentiable section of the tangent bundle TM), then we can define the Lie derivative of T along Y. Let φ:M×R→M be the one-parameter semigroup of local diffeomorphisms of M induced by the vector flow of Y and denote φt(p) := φ(p, t). For each sufficiently small t, φt is a diffeomorphism from an neighborhood in M to another neighborhood in M, and φ0 is the identity diffeomorphism. The Lie derivative of T is defined at a point p by
- Failed to parse (Missing texvc executable; please see math/README to configure.): (\mathcal{L}_Y T)_p=\left.\frac{d}{dt}\right|_{t=0}\left((\phi_t)_*T_{\phi_{-t}(p)}\right)
.
where (φt)* is the pushforward along the diffeomorphism. In other words, if you have a tensor field Failed to parse (Missing texvc executable; please see math/README to configure.): T
and an infinitesimal generator of a diffeomorphism given by a vector field Y, then Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_{Y} T
is nothing other than the infinitesimal change in T under the infinitesimal diffeomorphism.
We now give an algebraic definition. The algebraic definition for the Lie derivative of a tensor field follows from the following four axioms:
- Axiom 1. The Lie derivative of a function is the directional derivative of the function. So if f is a real valued function on M, then
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_Yf=Y(f)=\nabla_Y f.
- Axiom 2. The Lie derivative of a vector field is the Lie bracket. So if X is a vector field, one has
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_YX=[Y,X].
- Axiom 3. The Lie derivative of a differential form is the anticommutator of the interior product with the exterior derivative. So if α is a differential form,
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_Y\alpha=i_Yd\alpha+di_Y\alpha.
- Axiom 4. The Lie derivative obeys the Leibniz rule. For any tensor fields S and T, we have
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_Y(S\otimes T)=(\mathcal{L}_YS)\otimes T+S\otimes (\mathcal{L}_YT).
Explicitly, let T be a tensor field of type (p,q). Consider T to be a differentiable multilinear map of smooth sections α1, α2, ..., αq of the cotangent bundle T*M and of sections X1, X2, ... Xp of the tangent bundle TM, written T(α1, α2, ..., X1, X2, ...) into R. Define the Lie derivative of T along Y by the formula
- Failed to parse (Missing texvc executable; please see math/README to configure.): (\mathcal{L}_Y T)(\alpha_1, \alpha_2, \ldots, X_1, X_2, \ldots) =Y(T(\alpha_1,\alpha_2,\ldots,X_1,X_2,\ldots))
-
- Failed to parse (Missing texvc executable; please see math/README to configure.): - T(\mathcal{L}_Y\alpha_1, \alpha_2, \ldots, X_1, X_1, \ldots) - T(\alpha_1, \mathcal{L}_Y\alpha_2, \ldots, X_1, X_1, \ldots) -\ldots
-
- Failed to parse (Missing texvc executable; please see math/README to configure.): - T(\alpha_1, \alpha_2, \ldots, \mathcal{L}_YX_1, X_2, \ldots) - T(\alpha_1, \alpha_2, \ldots, X_1, \mathcal{L}_YX_2, \ldots) - \ldots
The analytic and algebraic definitions can be proven to be equivalent using the properties of the pushforward and the Leibniz rule for differentiation.
[edit] Coordinate expressions
Let xa be a system of coordinates. For a type (r,s) tensor field Failed to parse (Missing texvc executable; please see math/README to configure.): T , the Lie derivative along Failed to parse (Missing texvc executable; please see math/README to configure.): X
is
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal L_X T ^{a_1 \ldots a_r}{}_{b_1 \ldots b_s} = X^c(\nabla_cT^{a_1 \ldots a_r}{}_{b_1 \ldots b_s}) - (\nabla_cX ^{a_1}) T ^{c \ldots a_r}{}_{b_1 \ldots b_s} - \ldots - (\nabla_cX^{a_r}) T ^{a_1 \ldots a_{r-1}c}{}_{b_1 \ldots b_s} +
-
- Failed to parse (Missing texvc executable; please see math/README to configure.): + (\nabla_{b_1}X^c) T ^{a_1 \ldots a_r}{}_{c \ldots b_s} + \ldots + (\nabla_{b_s}X^c) T ^{a_1 \ldots a_r}{}_{b_1 \ldots b_{s-1} c}
here, the notation ∇ means taking the gradient in the x coordinate system.
Alternatively, if we are using a torsion-free connection, then ∇ could also mean the covariant derivative. For a torsion-free connection, both definitions are equivalent.
[edit] Generalizations
Various generalizations of the Lie derivative play an important role in differential geometry.
[edit] Nijenhuis-Lie derivative
This article has defined the usual Lie derivative of a differential form along a vector field. One generalization, due to Albert Nijenhuis, allows one to define the Lie derivative of a differential form along any contravariant tensor field. In detail, if K is a contravariant tensor and α is a differential p-form, then it is possible define the interior product iKα of K and α. The Nijenhuis-Lie derivative is then the anticommutator of the interior product and the exterior derivative:
- Failed to parse (Missing texvc executable; please see math/README to configure.): \mathcal{L}_K\alpha=di_K\alpha+i_Kd\alpha.
The Nijenhuis-Lie derivative enjoys many algebraic properties similar to those of the Lie derivative, with one notable exception: it is not a derivation in the usual sense.
[edit] See also
- Killing field
- Lie group
- Geodesic
- Covariant derivative
- Connection (mathematics)
- Frölicher-Nijenhuis bracket
[edit] References
- Ralph Abraham and Jerrold E. Marsden, Foundations of Mechanics, (1978) Benjamin-Cummings, London ISBN 0-8053-0102-X See section 2.2.
- David Bleecker, Gauge Theory and Variational Principles, (1981), Addison-Wesley Publishing, ISBN 0-201-10096-7. See Chapter 0.
- Jurgen Jost, Riemannian Geometry and Geometric Analysis, (2002) Springer-Verlag, Berlin ISBN 3-540-42627-2 See section 1.6.
- Kolář, I., Michor, P., and Slovák, J. (1993). Natural operations in differential geometry. Springer-Verlag. Extensive discussion of Lie brackets, and the general theory of Lie derivatives.
- Lang, S. (1995). Differential and Riemannian manifolds. Springer-Verlag. ISBN 978-0387943381. For generalizations to infinite dimensions.
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