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Symmetry Reduction of Discrete Lagrangian Mechanics on Lie groups

By Jerrold E. Marsden, Sergey Pekarsky and Steve Shkoller

Abstract

For a discrete mechanical system on a Lie group G determined by a (reduced) Lagrangian ℓ we define a Poisson structure via the pull-back of the Lie-Poisson structure on the dual of the Lie algebra � ∗ by the corresponding Legendre transform. The main result shown in this paper is that this structure coincides with the reduction under the symmetry group G of the canonical discrete Lagrange 2-form ωL on G × G. Its symplectic leaves then become dynamically invariant manifolds for the reduced discrete system. Links between our approach and that of groupoids and algebroids as well as the reduced Hamilton-Jacobi equation are made. The rigid body is discussed as an example

Year: 2000
OAI identifier: oai:CiteSeerX.psu:10.1.1.135.2420
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