# Collective Heavy Top Dynamics

## TL;DR

This paper constructs a Poisson map linking a canonical Hamiltonian system to heavy top dynamics, revealing conserved quantities and developing a Lie--Poisson integrator that preserves these invariants.

## Contribution

It introduces a new Poisson map derived from a momentum map related to a semidirect product group, connecting canonical systems to heavy top equations.

## Key findings

- The Poisson map accurately transforms solutions between systems.
- The integrator preserves conserved quantities of the Kovalevskaya top.
- Conserved quantities correspond to symmetries via Noether's theorem.

## Abstract

We construct a Poisson map $\mathbf{M}\colon T^{*}\mathbb{C}^{2} \to \mathfrak{se}(3)^{*}$ with respect to the canonical Poisson bracket on $T^{*}\mathbb{C}^{2} \cong T^{*}\mathbb{R}^{4}$ and the $(-)$-Lie--Poisson bracket on the dual $\mathfrak{se}(3)^{*}$ of the Lie algebra of the special Euclidean group $\mathsf{SE}(3)$. The essential part of this map is the momentum map associated with the cotangent lift of the natural right action of the semidirect product Lie group $\mathsf{SU}(2) \ltimes \mathbb{C}^{2}$ on $\mathbb{C}^{2}$. This Poisson map gives rise to a canonical Hamiltonian system on $T^{*}\mathbb{C}^{2}$ whose solutions are mapped by $\mathbf{M}$ to solutions of the heavy top equations. We show that the Casimirs of the heavy top dynamics and the additional conserved quantity of the Lagrange top correspond to the Noether conserved quantities associated with certain symmetries of the canonical Hamiltonian system. We also construct a Lie--Poisson integrator for the heavy top dynamics by combining the Poisson map $\mathbf{M}$ with a simple symplectic integrator, and demonstrate that the integrator exhibits either exact or near conservation of the conserved quantities of the Kovalevskaya top.