The basic idea is the following. For the sake of simplicity, I henceforth assume that every function does not depend explicitly on time (with a little effort, everything could be generalized dealing with a suitable fiber bundle over the axis of time whose fibers are spaces of phases at time t).
On a symplectic 2n dimensional manifold (a space of phases), (M,ω), where ω is the symplectic 2-form, you first define the Hamiltonian vector field Xf associated to a smooth function f:M→R as the unique vector field such that:
ω(Xf,⋅)=df.
The definition is well-posed because ω is non degenerate by hypotheses. ω is also antisymmetric and closed by hypotheses, therefore due to a theorem due to Darboux, on a suitable atlas which always exists ω=∑ni=1dqi∧dpi. In this picture you recover the standard q−p formulation of Hamiltonian mechanics.
Next, you have the Poisson bracket of two smooth functions defined as
{f,g}:=ω(Xf,Xg).
The (generally local) one-parameter group of diffeomorphisms generated by Xf
turns out to be made of canonical transformations in the standard sense of Hamiltonian mechanics. f is said to be the Hamiltonian generator of that transformation. Using Darboux' atlas, i.e. coordinates, q1,…,qn,p1,…,pn, both Hamilton equations and Poisson brackets assume the standard form more familiar to physicists.
If H is a preferred function f called the Hamiltonian function, the integral lines of XH are nothing but the solution of Hamilton equations.
With these definition it turns out that, if [.,.] is the standard commutator of vector fields,
[Xf,Xg]=X{f,g}.
As an immediate consequence of (3), you see that if {f,H}=0, then the integral lines of XH remains integral lines of XH also under the action of the group generated by Xf. In this case you have a dynamical symmetry.
Moreover, from (1) and (2), XH(f)={f,H}
so that {f,H}=0 also implies that f is invariant under the Hamiltonian flow, i.e., it is a constant of motion.
The fact that f is a constant of motion and that it generates (canonical) transformations which preserve the evolution of the system are equivalent facts.
This fantastic equivalence does not hold within the Lagrangian formulation of mechanics.
In this scenario, suppose that the N dimensional Lie group G freely acts on M in terms of diffeomorphisms bijective. The one-parameters of the group define corresponding one parameter groups of diffeomorphisms whose generators have the same Lie algebra as that of G. So if e1,…,en is a basis of g (the Lie algebra of G), with
[ei,ej]=N∑k=1ckijek
you correspondingly find, for the associated vector fields defining th corresponding one-parameter groups of diffeomorphisms
[Xi,Xj]=∑kckijXk.
Suppose eventually that each Xi can be written as Xfi for a corresponding smooth function fi:M→R. In this case, the one-parameter group of diffeomorphisms generated by Xf is a one-parameter group of canonical transformations. (This automatically happens when the action of G preserves the symplectic form.)
Consequently,
X{fi,fj}=[Xfi,Xfj]=∑kckijXfk.
Using the fact that the Poisson brakes are bi-linear:
X{fi,fj}−∑kckijfk=0
and thus, since f↦Xf is injective up an additive constant to f,
{fi,fj}=qij+∑kckijfk
the constants qij generally appear, sometime (as it happens if G=SO(3)) you can re-absorb them in the definition of the fi which, in turn, are defined up to additive constants. (It is a co-homological problem depending on G).
This post imported from StackExchange Physics at 2015-12-18 22:27 (UTC), posted by SE-user Valter Moretti