- Ehresmann connection
In
differential geometry , an Ehresmann connection (after the French mathematicianCharles Ehresmann who first formalized this concept) is a version of the notion of a connection which is defined on arbitraryfibre bundle s. In particular, it may benonlinear , since a general fibre bundle lacks a suitable notion of linearity. Nevertheless,linear connection s may be viewed as a special case. Another important special case are principal connections onprincipal bundle s, in which the connection isequivariant with respect to the natural action of aLie group .Introduction
A covariant derivative in differential geometry is a
linear differential operator which takes thedirectional derivative of a section of avector bundle in acovariant manner. It also allows one to formulate a notion of a parallel section of a bundle in the direction of a vector: a section "s" is parallel along a vector "X" if ∇"X""s" = 0. So a covariant derivative provides at least two things: a differential operator, "and" a notion of what it means for to be parallel in each direction. An Ehresmann connection drops the differential operator completely and defines a connection axiomatically in terms of the sections parallel in each direction harv|Ehresmann|1950. Specifically, an Ehresmann connection singles out avector subspace of eachtangent space to the total space of the fibre bundle, called the "horizontal space". A section "s" is then horizontal (i.e., parallel) in the direction "X" if d"s"("X") lies in a horizontal space. Here we are regarding "s" as a function "s" : "M" → "E" from the base "M" to the fibre bundle "E", so that d"s" : "TM" → "s*" "TE" is then the pushforward of tangent vectors. The horizontal spaces together form a vector subbundle of "TE".This has the immediate benefit of being definable on a much broader class of structures than mere vector bundles. In particular, it is well-defined on a general
fibre bundle . Furthermore, many of the features of the covariant derivative still remain: parallel transport,curvature , andholonomy .The missing ingredient of the connection, apart from linearity, is "covariance". With the classical covariant derivatives, covariance is an "a posteriori" feature of the derivative. In their construction one specifies the transformation law of the
Christoffel symbols — which is not covariant — and then general covariance of the "derivative" follows as a result. For an Ehresmann connection, it is possible to impose a generalized covariance principle from the beginning by introducing aLie group acting on the fibres of the fibre bundle. The appropriate condition is to require that the horizontal spaces be, in a certain sense,equivariant with respect to the group action.The final finishing touch for an Ehresmann connection is that it can be represented as a
differential form , in much the same way as the case of aconnection form . If the group acts on the fibres and the connection is equivariant, then the form will also be equivariant. Furthermore, the connection form allows for a definition of curvature as acurvature form as well.Formal definition
Let "π": "E" → "M" be a
fibre bundle [These considerations apply equally well to the more general situation in which "π":"E"→"M" is asurjective submersion: i.e., "E" is afibred manifold over "M". In an alternative generalization, due to harv|Lang|1999 and harv|Eliason|1967, "E" and "M" are permitted to beBanach manifold s, with "E" a fibre bundle over "M" as above.] Let "V" = ker (d"π" : "TE" → "π"*"TM") be thevertical bundle consisting of the vectors tangent to the fibres "E", so that the fibre of "V" at "e"∈"E" is "T""e"("E""π"("e")).Definition via horizontal subspaces
An Ehresmann connection on "E" is a smooth subbundle "H" of "TE", called the
horizontal bundle of the connection, which is complementary to "V", in the sense that it defines adirect sum decomposition "TE" = "H"⊕"V" harv|Kolář|Michor|Slovák|1993. In more detail, the horizontal bundle has the following properties.
* For each point "e" ∈ "E", "H"e is a vector subspace of the tangent space "T""e""E" to "E" at "e", called the "horizontal subspace" of the connection at "e".
* "H""e" depends smoothly on "e".
* For each "e" ∈ "E", "H""e" ∩ "V""e" = {0}.
* Any tangent vector in "T""e""E" (for any "e"∈"E") is the sum of a horizontal and vertical component, so that "T""e""E" = "H""e" + "V""e".In more sophisticated terms, such an assignment of horizontal spaces satisfying these properties corresponds precisely to a smooth section of the
jet bundle "J"1"E" → "E".Definition via a connection form
Equivalently, let "v" be the projection onto the vertical bundle "V" along "H" (so that "H" = ker "v"). This is determined by the above "direct sum" decomposition of "TE" into horizontal and vertical parts and is sometimes called the
connection form of the Ehresmann connection. Thus "v" is avector bundle homomorphism from "TE" to itself with the following properties:
* "v"2 = "v";
* The image of "v" is "V".Conversely, if "v" is a vector bundleendomorphism of "TE" satisfying these two properties, then "H" = ker "v" is the horizontal subbundle of an Ehresmann connection.Parallel transport via horizontal lifts
An Ehresmann connection also prescribes a manner for lifting curves from the base manifold "M" into the total space of the fibre bundle "E" so that the tangents to the curve are horizontal. [See harv|Kobayashi|Nomizu|1996 and harv|Kolář|Michor|Slovák|1993] These horizontal lifts are a direct analogue of
parallel transport for other versions of the connection formalism.Specifically, suppose that "γ"("t") is a smooth curve in "M" through the point "x" = "γ"(0). Let "e"∈ "E""x" be a point in the fibre over "x". A lift of "γ" through "e" is a curve in the total space "E" such that :, and A lift is horizontal if, in addition, every tangent of the curve lies in the horizontal subbundle of "TE"::
It can be shown using the
rank-nullity theorem applied to "π" and "v" that each vector "X"∈"T""x""M" has a unique horizontal lift to a vector . In particular, the tangent field to "γ" generates a horizontal vector field in the total space of thepullback bundle "γ"*"E". By thePicard-Lindelöf theorem , this vector field is integrable. Thus, for any curve "γ" and point "e" over "x"="γ"(0), there exists a "unique horizontal lift" of "γ" through "e" for small time "t".Note that, for general Ehresmann connections, the horizontal lift is path-dependent. When two smooth curves in "M", coinciding at "γ"1(0) = "γ"2(0) = "x"0 and also intersecting at another point "x"1∈"M", are lifted horizontally to "E" through the same "e"∈"π"-1("x"0), they will generally pass through different points of "π"-1("x"1). This has important consequences for the differential geometry of fibre bundles: the space of sections of "H" is not a
Lie subalgebra of the space of vector fields on "E", because it is not (in general) closed under the Lie bracket of vector fields. This failure of closure under Lie bracket is measured by the "curvature".Properties
Curvature
Let "v" be an Ehresmann connection. Then the curvature of "v" is given by [harv|Kolář|Michor|Slovák|1993] :where [-,-] denotes the
Frölicher-Nijenhuis bracket of "v" ∈ Ω1("E","TE") with itself. Thus "R" ∈ Ω2("E","TE") is the two-form on "E" with values in "TE" defined by:,or, in other terms,:,where "X" = "X"H + "X"V denotes the direct sum decomposition into "H" and "V" components, respectively. From this last expression for the curvature, it is seen to vanish identically if, and only if, the horizontal subbundle is Frobenius integrable. Thus the curvature is theintegrability condition for the horizontal subbundle to yield transverse sections of the fibre bundle "E" → "M".The curvature of an Ehresmann connection also satisfies a version of the
Bianchi identity ::where again [-,-] is the Frölicher-Nijenhuis bracket of v ∈ Ω1("E","TE") and "R" ∈ Ω2("E","TE").Completeness
An Ehresmann connection allows curves to have unique horizontal lifts locally. For a complete Ehresmann connection, a curve can be horizontally lifted over its entire domain.
Holonomy
Flatness of the connection corresponds locally to the Frobenius integrability of the horizontal spaces. At the other extreme, non-vanishing curvature implies the presence of
holonomy of the connection. [Holonomy for Ehresmann connections in fibre bundles is sometimes called the Ehresmann-Reeb holonomy or leaf holonomy in reference to the first detailed study using Ehresmann connections to studyfoliation s in harv|Reeb|1952]pecial cases
Principal bundles and principal connections
Suppose that "E" is a smooth principal "G"-bundle over "M". Then an Ehresmann connection "H" on "E" is said to be a principal (Ehresmann) connection [harvnb|Kobayashi|Nomizu|1996 Volume 1.] if it is invariant with respect to the "G" action on "E" in the sense that: for any "e"∈"E" and "g"∈"G"; here denotes the differential of the right action of "g" on "E" at "e".
The one-parameter subgroups of "G" act vertically on "E". The differential of this action allows one to identify the subspace with the Lie algebra g of group "G", say by map . The connection form "v" of the Ehresmann connection may then be viewed as a 1-form "ω" on "E" with values in g defined by "ω"("X")="ι"("v"("X")).
Thus reinterpreted, the connection form "ω" satisfies the following two properties:
* It transforms equivariantly under the "G" action: for all "h"∈"G".
* It maps vertical vector fields to their associated elements of the Lie algebra: "ω"("X")="ι"("X") for all "X"∈"V".Conversely, it can be shown that such a g-valued 1-form on a principal bundle generates a horizontal distribution satisfying the aforementioned properties.Given a local trivialization one can reduce "ω" to the horizontal vector fields (in this trivialization). It defines a 1-form "ω' " on "B" via pullback. The form "ω determines "ω" completely, but it depends on the choice of trivialization. (This form is often also called a
connection form "' and denoted simply by "ω".)Vector bundles and covariant derivatives
Suppose that "E" is a smooth
vector bundle over "M". Then an Ehresmann connection "H" on "E" is said to be a linear (Ehresmann) connection if "H""e" depends linearly on "e" ∈ "E""x" for each "x" ∈ "M". To make this precise, let "S""λ" denote scalar multiplication by "λ" on "E", and let denote addition.Then "H" is linear if and only if for all "x" ∈ "M", the following properties are satisfied.
* for any "e" ∈ "E" and scalar λ.
* where denotes the corresponding horizontal subbundle on .Since "E" is a vector bundle, its vertical bundle "V" is isomorphic to "π"*"E". Therefore if "s" is a section of "E", then"v"(d"s"):"TM"→"s"*"V"="s"*"π"*"E"="E". The fact that the Ehresmann connection is linear implies that this is a vector bundle homomorphism, and is therefore given by a section ∇"s" of the vector bundle Hom("TM","E"), called the covariant derivative of "s".
Conversely a covariant derivative "∇" on a vector bundle defines a linear Ehresmann connection by defining "H""e", for "e" ∈ "E" with "x"="π"("e"), to be the image d"s""x"("TM") where "s" is a section of "E" with ∇"s""x"=0.
Note that (for historical reasons) the term "linear" when applied to connections, is sometimes used (like the word "affine" — see
Affine connection ) to refer to connections defined on the tangent bundle orframe bundle .Associated bundles
An Ehresmann connection on a
fibre bundle (endowed with a structure group) sometimes gives rise to an Ehresmann connection on anassociated bundle . For instance, a (linear) connection in a vector bundle "E", thought of giving a parallelism of "E" as above, induces a connection on the associated bundle of frames P"E" of "E". Conversely, a connection in P"E" gives rise to a (linear) connection in "E" provided that the connection in P"E" is equivariant with respect to the action of the general linear group on the frames (and thus a principal connection). It is "not always" possible for an Ehresmann connection to induce, in a natural way, a connection on an associated bundle. For example, a non-equivariant Ehresmann connection on a bundle of frames of a vector bundle may not induce a connection on the vector bundle.Suppose that "E" is an associated bundle of "P", so that "E" = "P" ×G "F". A "G"-connection on "E" is an Ehresmann connection such that the parallel transport map τ : "F"x → "F"x′ is given by a "G"-transformation of the fibres (over sufficiently nearby points "x" and "x"′ in "M" joined by a curve). [See also Lumiste (2001), "Connections on a manifold".]
Given a principal connection on "P", one obtains a "G"-connection on the associated fibre bundle "E" = "P" ×G "F" via pullback.
Conversely, given a "G"-connection on "E" it is possible to recover the principal connection on the associated principal bundle "P". To recover this principal connection, one introduces the notion of a "frame" on the typical fibre "F". Since "G" is a finite-dimensional [For convenience, we assume that "G" is finite-dimensional, although this assumption can safely be dropped with minor modifications.] Lie group acting effectively on "F", there must exist a finite configuration of points ("y"1,...,"y"m) within "F" such that the "G"-orbit "R" = {("gy"1,...,"gy"m) | "g" ∈ "G"} is a principal homogeneous space of "G". One can think of "R" as giving a generalization of the notion of a frame for the "G"-action on "F". Note that, since "R" is a principal homogeneous space for "G", the fibre bundle "E"("R") associated to "E" with typical fibre "R" is (equivalent to) the principal bundle associated to "E". But it is also a subbundle of the "m"-fold product bundle of "E" with itself. The distribution of horizontal spaces on "E" induces a distribution of spaces on this product bundle. Since the parallel transport maps associated to the connection are "G"-maps, they preserve the subspace "E"("R"), and so the "G"-connection descends to a principal "G"-connection on "E"("R").
In summary, there is a one-to-one correspondence (up to equivalence) between the descents of principal connections to associated fibre bundles, and "G"-connections on associated fibre bundles. For this reason, in the category of fibre bundles with a structure group "G", the principal connection contains all relevant information for "G"-connections on the associated bundles. Hence, unless there is an overriding reason to consider connections on associated bundles (as there is, for instance, in the case of
Cartan connection s) one usually works directly with the principal connection.Notes
References
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*citation|last=Lang|first=Serge|authorlink=Serge Lang|title=Fundamentals of differential geometry|publisher=Springer-Verlag|year=1999|isbn=0-387-98593-X
*springer|id=c/c025140|title=Connection on a fibre bundle|author=Lumiste, Ü.
*springer|id=c/c025180|title=Connections on a manifold|author=Lumiste, Ü.
*citation|last=Reeb|first=G|title=Sur Certaines Proprietes Topologiques des Varietes Feuilletees|publisher=Herman|place=Paris|year=1952Further reading
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Raoul Bott (1970) "Topological obstruction to integrability", "Proc. Symp. Pure Math.", 16 Amer. Math. Soc., Providence, RI.
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