Introduction to Nonlinear Geometric Pdes

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Introduction to Nonlinear Geometric Pdes Introduction to nonlinear geometric PDEs Thomas Marquardt January 16, 2014 ETH Zurich Department of Mathematics Contents I. Introduction and review of useful material 1 1. Introduction 3 1.1. Scope of the lecture . .3 1.2. Accompanying books . .4 1.3. A historic survey . .5 2. Review: Differential geometry 7 2.1. Hypersurfaces in Rn ..............................7 2.2. Isometric immersions . 11 2.3. First variation of area . 12 3. Review: Linear PDEs of second order 15 3.1. Elliptic PDEs in H¨older spaces . 15 3.2. Elliptic PDEs in Sobolev spaces . 18 3.3. Parabolic PDEs in H¨older spaces . 20 II. Nonlinear elliptic PDEs of second order 25 4. General theory for quasilinear problems 27 4.1. Fixed point theorems: From Brouwer to Leray-Schauder . 27 4.2. Reduction to a priori estimates in the C1,β-norm . 29 4.3. Reduction to a priori estimates in the C1-norm . 30 5. The prescribed mean curvature problem 33 5.1. C0-estimate . 33 5.2. Interior gradient estimate . 37 5.3. Boundary gradient estimate . 40 5.4. Existence and uniqueness theorem . 45 6. General theory for fully nonlinear problems 49 6.1. Fully nonlinear Dirichlet problems . 50 6.2. Fully nonlinear oblique derivative problems . 52 7. The capillary surface problem 57 7.1. C0-estimate . 58 7.2. Global gradient estimate . 60 7.3. Existence and uniqueness theorem . 66 III. Geometric evolution equations 67 8. Classical solutions of MCF and IMCF 69 8.1. Short-time existence . 69 8.2. Evolving graphs under mean curvature flow . 74 8.3. A Neumann problem for inverse mean curvature flow . 79 9. Outlook: Level set flow and weak solutions of (I)MCF 93 9.1. Derivation of the level set problem . 93 9.2. Solving the level set problem . 94 Bibliography 95 Preface These notes are the basis for an introductory lecture about geometric PDEs at ETH Zurich in the spring term 2013. The course is based on my diploma thesis about pre- scribed mean curvature problems, my PhD thesis about inverse mean curvature flow and many inspiring lectures by my former thesis advisor Gerhard Huisken. Further information about the lecture can be found on the course web page: www.math.ethz.ch/education/bachelor/lectures/hs2013/math/PDEs If you have questions or comments please feel free to contact me: [email protected]. I want to thank Malek Alouini, Andreas Leiser and Mario Schulz for very valuable sug- gestions. i Part I. Introduction and review of useful material 1 1. Introduction 1.1. Scope of the lecture Geometric analysis is a field that has considerably grown over the last decades. Its goal is to answer questions that arise in geometry, topology, physics and many other sciences (e.g. in image processing) with the help of analytic tools. Usually the first task is to model the problem in terms of a (system of) PDE(s)1. Then existence and uniqueness is investigated using tools from PDE theory and/or the calculus of variations as well as functional analytic tools. Most of the time the geometric objects under consideration are not at all smooth. This requires the language of geometric measure theory to treat those problems. The aim of the course is to give an introduction to the field of nonlinear geometric PDEs by discussing two typical classes of PDEs. For the first part of the course we will deal with nonlinear elliptic problems. In particular, we will look at the Dirichlet problem of prescribed mean curvature and the corresponding Neumann problem of capillary surfaces. In the second part we will investigate nonlinear parabolic PDEs. As an example we will discuss the evolution of surfaces under inverse mean curvature flow. We will prove short- time existence as well as convergence results and introduce the notion of weak solutions. Prescribing the scalar mean curvature H of a hypersurface M n ⊂ Rn+1 which is given as the graph of a scalar function u :Ω ⊂ Rn → R leads to the following equation2: ! Du div = H(·, u, Du) in Ω. (1.1) p1 + |Du|2 Together with a Dirichlet boundary condition u = φ on ∂Ω equation (1.1) is called the prescribed mean curvature problem. If we consider Neumann boundary conditions, i.e. if we prescribe the boundary contact angle the problem goes under the name capillary surface equation. During the first part of the course we will discuss existence and unique- ness of solutions to those problems. Note that if the denominator in (1.1) is replaced by one we obtain the Laplace operator. We will use the knowledge about linear second order elliptic PDEs together with a fixed point argument (or the method of continuity) and a priori estimates to prove existence for the corresponding nonlinear problems. In the same way as the prescribed mean curvature equation resembles the Poisson equation, the evolution equation for the deformation of a hypersurface M n ⊂ N n+1 in time will resemble the heat equation. In our discussion we will focus on a deformation of hypersurfaces M n along their inverse mean curvature. In terms of the embedding 1This step is not at all unique. People have come up with totally different successful models to answer exactly the same questions. 2We will discuss this in more detail in Section 2.1 3 4 1. Introduction F : M n × [0,T ] → N n+1 the equation reads ∂F 1 = ν F : M n × [0,T ) → (N n+1, g). (1.2) ∂t H The similarity to the heat equation will become clear during the second part of the course. The investigation of (1.2) will lead us to the topic of nonlinear parabolic PDEs. We will analyze their well-posedness (i.e. short-time existence) as well as their long-time behavior. Finally we will also discuss the construction of weak solutions via the level set method. It turns out this procedure brings us back to a degenerate version of (1.1). 1.2. Accompanying books The following books contain subjects which are relevant for the topics we will discuss during the semester. We will not follow a particular book. However, for the first part of the course the book by Gilbarg and Trudinger will be closest to the lecture notes. For the second part the book by Gerhardt might be the most relevant one. Overview about the field of PDEs: • Evans [17] Elliptic PDEs of second order: • Gilbarg, Trudinger [23] • Ladyˇzenskaja, Ural’ceva [37] Parabolic PDEs of second order: • Lieberman [40] • Ladyˇzenskaja, Solonnikov, Ural’ceva [38] Maximum principle: • Protter, Weinberger [53] Minimal surfaces: • Giusti [24] • Dierkes, Hildebrand, Sauvigny [10] Mean curvature flow and related flows: • Gerhardt [22] • Ecker [11] • Ritor´e,Sinestrari [54] • Mantegazza, C. [41] 1.3. A historic survey 5 1.3. A historic survey The field of geometric analysis is becoming more and more active during the last years. To give you an idea about the developments I made a brief survey in form of important results over the last 80 years. Note that the books and articles I cited here are not always written by the people who proved the result. If available I chose review articles which give an easy introduction into the topic. 1930: The Plateau problem Solved independently by Douglas and Rad´oin 1930: • Dierkes, Hildebrand, Sauvigny [10] 1979: The positive mass theorem Proved by Schoen and Yau: • Schoen (in Proc. of the Clay summer school 2001) [30] 1984: The Yamabe problem Partial results by Trudinger, Aubin and others, finally solved by Schoen: • Lee, Parker [39] • Struwe [61] • B¨ar[3] 1999: The Penrose inequality Riemannian version proved by Huisken and Ilmanen and in a bit more general version two years later by Bray. The full Penrose inequality is still an open problem: • Bray [5] 2002: The double bubble conjecture Proved by Hutchings, Morgan, Ritor´eand Ros. • Morgan [47] 2003: The Poincar´e conjecture Proved by Perelman based on Hamilton’s work on the Ricci flow: • Ecker [12] • Morgan, Tian [48] 2007: The differentiable sphere theorem Proved by Brendle and Schoen: • Brendle [6] 2012: The Lawson conjecture Proved by Brendle: • Brendle [7] 6 1. Introduction 2012: The Wilmore conjecture Proved by Marques and Neves: • Marques, Neves [45] Of course the list can not be complete. But if you have the feeling I missed something very important please let me know. 2. Review: Differential geometry We will always work with orientable hypersurfaces which are either immersed or embedded in a Riemannian ambient manifold. For most of the things we will use the same notation as in the differential geometry class of Michael Eichmair [14]. 2.1. Hypersurfaces in Rn For the discussion of the prescribed mean curvature problem and the capillary surface problem it will be sufficient to deal with embedded, graphical hypersurfaces in Rn+1: Let us consider a simple submanifold M = φ(U) of Rn+1 where U ⊂ Rn is a chart 1 S domain . The tangent space of M is defined as TM := p∈M TpM where TpM is the tangent space of M at p = φ(x): n Rno TpM := φ∗(TxU) := φ(x), Dφ xv (x, v) ∈ TxU := U × . S S ⊥ The normal space is defined as NM := p∈M NpM := p∈M (TpM) . In the case of an orientable hypersurface the normal space can be generated from a single normal vector ν. The set of smooth tangent fields and normal fields are denoted by X(M) := Γ(TM → M) := {X : M → TM | X smooth, πTM ◦ X = idM } , Γ(NM → M) := {η : M → NM | η smooth, πNM ◦ η = idM } where πTM : TM → M and πNM : NM → M are the base point projections.
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