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where the derivative is to be taken with respect to t. We also define the maps
ip : Te G Tp P
A 7 XpA ,
Definition. Let (P, , M ) be a principal bundle and let p P . The vertical subspace at p
is the vector subspace of Tp P given by
Vp P := ker(( )p )
= {Xp Tp P | ( )p (Xp ) = 0}.
Proof. Since the action of G simply permutes the elements within each fibre, we have
(p) = (p C exp(tA)),
( )p XpA (f ) = XpA (f )
= [(f )(p C exp(tA))]0 (0)
= [f ((p))]0 (0)
= 0,
since f ((p)) is constant. Hence XpA Vp P . Alternatively, one can also argue that ( )p XpA
is the tangent vector to a constant curve on M .
In particular, the map ip : Te G
Vp P is now a bijection. The idea of a connection
is to make a choice of how to connect the individual points in neighbouring fibres in a
principal fibre bundle.
Tp P = Hp P Vp P.
1
The choice of horizontal space at p P is not unique. However, once a choice is made,
there is a unique decomposition of each Xp Tp P as
Xp = hor(Xp ) + ver(Xp ),
(C g) Xp HpCg P,
(C g) (Hp P ) = HpCg P.
ii) For every smooth X (T P ), the two summands in the unique decomposition
The definition formalises the idea that the assignment of an Hp P to each p P should
be smooth within each fibre (i) as well as between different fibres (ii).
Remark 21.2. For each Xp Tp P , both hor(Xp ) and ver(Xp ) depend on the choice of Hp P .
Remark 21.3. We have seen how to produce a one-form from a choice of horizontal spaces
(i.e. a connection). The choice of horizontal spaces can be recovered from by
Hp P = ker(p ).
2
Lemma 21.4. For all p P , g G and A Te G, we have
(Ad 1 ) A
(C g) XpA = XpCg g .
Proof. Let f C (P ) be arbitrary. We have
(C g) XpA (f ) = XpA (f ( C g))
= [f (p C exp(tA) C g)]0 (0)
= [f (p C g C g 1 C exp(tA) C g)]0 (0)
= [f (p C g C (g 1 exp(tA) g)]0 (0)
= [f (p C g C Adg1 (exp(tA))]0 (0)
= [f (p C g C exp(t(Adg1 ) A)]0 (0)
(Ad 1 ) A
= XpCg g (f ),
which is what we wanted.
p |V p P
idTe G
Te G
(Adg1 )
((Cg) )|p
Te G
c) is a smooth one-form.
Proof. a) Since XpA Vp P , by definition of we have
p (XpA ) := i1 A 1 A
p (ver(Xp )) = ip (Xp ) = A.
b) First observe that the left hand side is linear in Xp . Consider the two cases
3
b.2) Suppose now that Xp Hp P = ker(p ). Then
Let Xp Tp P . We have