In differential geometry, the Lie derivative /ˈliː/, named after Sophus Lie by Władysław Ślebodziński, evaluates the change of a tensor field (including scalar function, vector field and one-form), along the flow of another vector field. This change is coordinate invariant and therefore the Lie derivative is defined on any differentiable manifold.
Contents
- Motivation
- Definition
- The Lie derivative of a function
- The Lie derivative of a vector field
- The Lie derivative of a tensor field
- The Lie derivative of a differential form
- Coordinate expressions
- Examples
- Properties
- Generalizations
- The Lie derivative of a spinor field
- Covariant Lie derivative
- NijenhuisLie derivative
- History
- References
Functions, tensor fields and forms can be differentiated with respect to a vector field. If T is a tensor field and X is a vector field, then the Lie derivative of T with respect to X is denoted
The Lie derivative commutes with contraction and the exterior derivative on differential forms.
Although there are many concepts of taking a derivative in differential geometry, they all agree when the expression being differentiated is a function or scalar field. Thus in this case the word "Lie" is dropped, and one simply speaks of the derivative of a function.
The Lie derivative of a vector field Y with respect to another vector field X is known as the "Lie bracket" of X and Y, and is often denoted [X,Y] instead of
valid for any vector fields X and Y and any tensor field T.
Considering vector fields as infinitesimal generators of flows (i.e. one-dimensional groups of diffeomorphisms) on M, the Lie derivative is the differential of the representation of the diffeomorphism group on tensor fields, analogous to Lie algebra representations as infinitesimal representations associated to group representation in Lie group theory.
Generalisations exist for spinor fields, fibre bundles with connection and vector-valued differential forms.
Motivation
A "naive" attempt to define the derivative of a tensor field with respect to a vector field would be to take the directional derivative of the components of the tensor field with respect to the vector field. However, this definition is undesirable because it is not invariant under coordinate transformations, and is thus meaningless when considered on an abstract manifold. In differential geometry, there are two main notions of differentiation (of arbitrary tensor fields) that are invariant under coordinate transformations: Lie derivatives, and derivatives with respect to connections. The main difference between these is that taking a derivative with respect to a connection requires an additional geometric structure (e.g. a Riemannian metric or just an abstract connection) on the manifold, but the derivative of a tensor field with respect to a tangent vector is well-defined even if it is not specified how to extend that tangent vector to a vector field; by contrast, when taking a Lie derivative, no additional information about the manifold is needed, but it is impossible to talk about the Lie derivative of a tensor field with respect to a single tangent vector, since the value of the Lie derivative of a tensor field with respect to a vector field X at a point p depends on the value of X in a neighborhood of p, not just at p itself.
Definition
The Lie derivative may be defined in several equivalent ways. To keep things simple, we begin by defining the Lie derivative acting on scalar functions and vector fields, before moving on to the definition for general tensors.
The (Lie) derivative of a function
The directional derivative of a function with respect to a vector field is one of the most fundamental concepts in differential geometry, and the Lie derivative of a function is simply defined to be the directional derivative of the function. The precise definition of the directional derivative depends on what formalization one is using for vector fields. Two common formalizations exist:
The Lie derivative of a vector field
If X and Y are both vector fields, then the Lie derivative of Y with respect to X is also known as the Lie bracket of X and Y, and is sometimes denoted
where
The Lie derivative of a tensor field
More generally, if we have a differentiable tensor field T of rank
where
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 equal to the directional derivative of the function. This fact is often expressed by the formulaIf these axioms hold, then applying the Lie derivative
which is one of the standard definitions for the Lie bracket.
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,
This follows easily by checking that the expression commutes with exterior derivative, is a derivation (being an anticommutator of graded derivations) and does the right thing on functions.
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
The analytic and algebraic definitions can be proven to be equivalent using the properties of the pushforward and the Leibniz rule for differentiation. Note also that the Lie derivative commutes with the contraction.
The Lie derivative of a differential form
A particularly important class of tensor fields is the class of differential forms. The restriction of the Lie derivative to the space of differential forms 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 interior product, after which the relationships falls out as an identity known as Cartan's formula. Note that these Cartan's formula can also be used as a definition of the Lie derivative on the space of differential forms.
Let M be a manifold and X a vector field on M. Let
The differential form
and that
for
where
For a general differential form, the Lie derivative is likewise a contraction, taking into account the variation in X:
This identity is known variously as "Cartan's formula" or "Cartan's magic formula", and can be used as a definition of the Lie derivative of a differential form. Cartan's formula shows in particular that
The Lie derivative also satisfies the relation
Coordinate expressions
Note: the Einstein summation convention of summing on repeated indices is used below.
In local coordinate notation, for a type (r,s) tensor field
here, the notation
which is independent of any coordinate system.
The definition can be extended further to tensor densities of weight w for any real w. If T is such a tensor density, then its Lie derivative is a tensor density of the same type and weight.
Notice the new term at the end of the expression.
Examples
For clarity we now show the following examples in local coordinate notation.
For a scalar field
So less abstractly, consider the scalar field
Concretely, consider the 2-form
Properties
The Lie derivative has a number of properties. Let
is a derivation on the algebra
Similarly, it is a derivation on
which may also be written in the equivalent notation
where the tensor product symbol
Additional properties are consistent with that of the Lie bracket. Thus, for example, considered as a derivation on a vector field,
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
Generalizations
Various generalizations of the Lie derivative play an important role in differential geometry.
The Lie derivative of a spinor field
A definition for Lie derivatives of spinors along generic spacetime vector fields, not necessarily Killing ones, on a general (pseudo) Riemannian manifold was already proposed in 1972 by Yvette Kosmann. Later, it was provided a geometric framework which justifies her ad hoc prescription within the general framework of Lie derivatives on fiber bundles in the explicit context of gauge natural bundles which turn out to be the most appropriate arena for (gauge-covariant) field theories.
In a given spin manifold, that is in a Riemannian manifold
where
It is then possible to extend Lichnerowicz's definition to all vector fields (generic infinitesimal transformations) by retaining Lichnerowicz's local expression for a generic vector field
where
To gain a better understanding of the long-debated concept of Lie derivative of spinor fields one may refer to the original article, where the definition of a Lie derivative of spinor fields is placed in the more general framework of the theory of Lie derivatives of sections of fiber bundles and the direct approach by Y. Kosmann to the spinor case is generalized to gauge natural bundles in the form of a new geometric concept called the Kosmann lift.
Covariant Lie derivative
If we have a principal bundle over the manifold M with G as the structure group, and we pick X to be a covariant vector field as section of the tangent space of the principal bundle (i.e. it has horizontal and vertical components), then the covariant Lie derivative is just the Lie derivative with respect to X over the principal bundle.
Now, if we're given a vector field Y over M (but not the principal bundle) but we also have a connection over the principal bundle, we can define a vector field X over the principal bundle such that its horizontal component matches Y and its vertical component agrees with the connection. This is the covariant Lie derivative.
See connection form for more details.
Nijenhuis–Lie derivative
Another generalization, due to Albert Nijenhuis, allows one to define the Lie derivative of a differential form along any section of the bundle Ωk(M, TM) of differential forms with values in the tangent bundle. If K ∈ Ωk(M, TM) and α is a differential p-form, then it is possible to 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:
History
In 1931, Władysław Ślebodziński introduced a new differential operator, later called by David van Dantzig that of Lie derivation, which can be applied to scalars, vectors, tensors and affine connections and which proved to be a powerful instrument in the study of groups of automorphisms.
The Lie derivatives of general geometric objects (i.e., sections of natural fiber bundles) were studied by A. Nijenhuis, Y. Tashiro and K. Yano.
For a quite long time, physicists had been using Lie derivatives, without reference to the work of mathematicians. In 1940, Léon Rosenfeld—and before him Wolfgang Pauli—introduced what he called a ‘local variation’