A Hilbert Manifold Model for Mapping Spaces
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A Hilbert Manifold Model for Mapping Spaces Lennart Meier January 26, 2010 Let M be an n-dimensional compact manifold and N be an arbitrary mani- fold. The mapping space Map(M; N) can be equipped with the compact-open topology. This can be seen as an innite-dimensional manifold modelled on Banach spaces. For many geometric purposes, such Banach manifolds are in- convenient since several of the theorems one knows from the nite-dimensional cases fail in this context. Hilbert manifolds, i.e. manifolds modelled on separa- ble Hilbert spaces, behave much better (see e.g. [Lan]). Transversality theorems for Hilbert manifolds are used in work by Chataur and also by the author to provide geometric descriptions of string topology. Since for algebraic topology applications nally only the homotopy type of Map(M; N) matters, we are interested in getting a Hilbert manifold homotopy equivalent to Map(M; N). To that end, we use the theory of Sobolev spaces to construct a Hilbert manifold Hn(M; N) which serves our purposes. It should be noted that our main results are known for a long time. It has been stated which a sketched proof, for example, in [E-M]. Furthermore, a great part of our section 2 was proved in greater generality in [Pal2]. In spite of that, the author has the opinion that it is good to have a complete and concrete proof of this fundamental construction written down. Our constructions and argumentation are modelled on the situation of the free loop space as discussed in [Kli], 1.2. There is no claim for originality. 1 A Hilbert Manifold Model We dene Hn(M; N) ⊂ Map(M; N) as the space of all continuous maps f : M ! N such that there is for every p 2 M a chart (U; φ) around p and a chart (V; ) around f(p) such that fφ−1 : φ(U) ! (V ) is of Sobolev class Hn1. Note that every L2-map φ(U) ! (V ) of class Hn has a unique continuous representative (see [Alt], 8.13). To construct an atlas for Hn(M; N), we choose Riemannian metrics on M and N. As a preliminary notion, we dene the following: Denition 1.1. Dene for the energy R 2 f 2 Map(M; N) E(f) := M jjTpfjj and the length R of . Here . L(f) := M jjTpfjj f jjTpfjj = maxv2TpM;jvj=1 jTpf(v)j 1Some authors denote this also by 2 or 2;n. Ln W 1 Let g : O ! M be a map from a Riemannian manifold O. Then jjTq(fg)jj ≤ jjTg(q)fjj · jjTqgjj for q 2 O. Therefore, by Cauchy-Schwarz we have L(fg) ≤ pE(f) · E(g). Consider some f 2 C1(M; N). Since the image of f is compact, there exists an " > 0 such that exp ×π : TN ! N × N induces a dieomorphism from the "-neighbourhood O" ⊂ TN of the zero ∗ section onto an open neighbourhood of the diagonal in N ×N. Let f∗ : f TN ! −1 TN be the pullback and Of = (f∗) (O"). We dene n n expf : H (Of ) ! H (M; N); ξ 7! (p 7! exp(f∗ξ(p))) n ∗ Here H (Of ) denotes the following: all continuous sections ξ of π : f TN ! M with image in Of such that there is a chart (U; φ) around every point of M and a local trivialization −1 k such that −1 k is of π (U) ! U × R pr2 ξφ : φ(U) ! R n n n Sobolev class H . We see in the next section that H (Of ) ⊂ H (E) is an open subset. Lemma 1.2. The map is injective and its image is the open set expf n Uf = fg 2 H (M; N): g(p) 2 exp(O" \ Tf(p)N)g Proof. The injectivity and that are clear. Now we want to show im expf ⊂ Uf that is of Sobolev class n if is. If is of Sobolev class n, then ξ H expf (ξ) expf (ξ) H also is Sobolev class n. The map id × expf (ξ): M ! M × N H id × expf ◦f∗ denes a dieomorphism from Of onto an open set in M × N. Reversing this dieomorphism we get ξ which is therefore also Hn. 0 To show that Uf is open, it is enough to show Uf = fg 2 C (M; N): g(p) 2 0 exp(O" \ Tf(p)N)g is open in C (M; N). But Uf is just the "-ball around f in the maximum metric. Theorem 1.3. The space Hn(M; N) is a (smooth) Hilbert manifold. n Proof. Note that H (Of ) is an open subset of the separable Hilbert space n ∗ . Therefore, −1 n is a chart for every 1 . H (f TN) expf : Uf ! H (Of ) f 2 C (M; N) n Now we want to show that for every g 2 H (Of ) there is a Uf with g 2 Uf . Approximate g by smooth functions fk in the maximum metric. This can be done locally and then be globalized by a partition of unity. Then choose some δ > 0 such that the closed δ-neighbourhood of im(g) is compact. Let " be the minimal injectivity radius on the closed δ-neighbourhood of im(g). Choose k with . Then . The collection of all −1 d1(fk; g) < min(δ; ") g 2 Ufk (Uf ; expf ) denes now an atlas A on Hn(M; N). We will deal with the smoothness of A in the next section. 2 We still need to show that Hn(M; N) has a countable base of topology. To that end, it suces to show that our atlas A has a countable subatlas. So let k; c 2 N and be natural numbers. Triangulate M with a nite trian- gulation ner than 1p . Let be the vertices of this triangulation and 3k c e1; : : : es denote by a countable set of points in such that the 1 -balls around Pk pi N 3k the pi cover N. Choose for every sequence S = (p1; : : : ps) in Pk of cardinality 1 s a function fk;c;S 2 C (M; N) of energy less than c with fk;c;S(ej) = pj for every pj 2 S. These are countably many functions. Now let g 2 Hn(M; N) be a function of energy less than c. Choose some compact δ-neighbourhood K of im(g). Choose furthermore some k 2 N such that the injectivity radius on K is bounded below by 1=k and 1=k < δ. Trian- gulate M as above. Then we have for p and q contained in the same simplex: d(g(p); g(q)) ≤ L(gγ) ≤ pE(g)pE(γ) = pE(g)L(γ) = pE(g)d(p; q) p 1 1 < c p = 3k c 3k Here γ : [0; 1] ! M denotes a minimal geodesic connecting p and q. There- fore, every simplex is contained in a 1 -ball. Choose as above such 3k pj 2 N that g(ej) 2 B1=3k(pj). Let S = (p1; : : : ps) be the sequence dened by these points. Then we claim that jjfk;c;S − gjj1 < 1=k where jj • jj1 denotes the supremum norm. Clearly we have 1 . Let be a simplex d(fk;c;S(ej); g(ej)) < 3k ∆ containing . Then we have by the inequality above 1 ej d(fk;c;S(x); f(ej)) < 3k and 1 for every by the inequality above. Then the d(g(x); g(ej)) < 3k x 2 ∆ claim follows from the triangle inequality. We see that . g 2 Ufk;c;S 2 The Smoothness of the Chosen Atlas Before we come to the smoothness, we have to study Sobolev spaces of sections of a vector bundle. A good source for this topic is the section III.2 of [L-M]. Although they consider only complex vector bundles, all results carry over to the real case. So let π : E ! M be a vector bundle equipped with a connection r and a euclidean metric j·j over a compact base manifold of dimension n. Let the space Ck(E) be equipped with the norm k 2 X i 2 jjξjjk = jjr ξjj0: i=0 2 Here the euclidean metric is extended to all forms and jj·jj0 denotes the L -norm. We call the completion of k with respect to this norm 2 . According C (E) Lk(E) to [L-M], we get an equivalent norm for other choices of metric and connection. Proposition 2.1 ([L-M], III.2.14+2.15). For each integer k > n=2, there is a continuous inclusion 2 0 extending the inclusion of k . In Lk(E) !C (E) C (E) particular, there is a constant K(k) with jjujjk ≤ K(k)jjujj1. 3 We see that we can identify 2 n . Ln(E) = H (E) Lemma 2.2. Let O be an open subset of E. Then Hn(O) ⊂ Hn(E) is open. Proof. Let ξ 2 Hn(O). Since M is compact, there exists an " > 0 such that n for η 2 H (E), jjη − ξjj1 < " implies that η(p) 2 O for all p 2 M. Therefore, n jjη − ξjjn < "=K(n) implies η 2 H (O). Lemma 2.3. Let O be again an open subset of E and Φ: F ! M a second vector bundle. Furthermore, let f : O! F be a smooth bre map, i.e. Φ◦f = π. Then the induced map f~: Hn(O) ! Hn(F ); ξ 7! f ◦ ξ is continuous.