1. Introduction
The Lie group symmetry method emerges as a potent tool employed for the analy-sis of differential equations (DEs), encompassing both ordinary differential equations (ODEs) and partial differential equations (PDEs), as well as fractional differential equa-tions (FDEs) and various other equation types. This theory, originating in the 19th century by the mathematician Sophus Lie [1], follows in the footsteps of Galois theory within the realm of algebra. The application of the Lie group method to differential equations has engendered considerable interest across a spectrum of scientific disciplines, including pure mathematics and both theoretical and applied physics. This stems from the invaluable physical interpretations it affords to the scrutinized equations. Conse-quently, this approach facilitates the construction of conservation laws, employing, for instance, the renowned Noether’s Theorem [2], and even symmetry solutions, a feat unattainable through conventional methods.
Moreover, this method contributes to the formulation of frameworks and the assessment of numerical methods, among other applications [3, 4, 5]. Present-day Lie symmetries have undergone extensive scrutiny, as evidenced by the comprehensive body of work available in the literature [6, 7, 8, 9, 10].
Within the study of the diffusions, specifically in the study of a relativistic fluid sphere by considering the so-called isotropic metric, Buchdahl [11] obtained the equation
the solution of which is,
In [12], the first three integrals of (1) are presented using the Prelle-Singer method. In [13], first integrals of (1) are also derived by employing the relation between sym-metries and extending the Prelle-Singer method. In [14], the first integrals of (1) are obtained through an extension of the Prelle-Singer method. All of the aforementioned authors have arrived at the same solution for (1)
where I1 and I2 are first integrals. It is worth noting that (2) and (3) are equivalent when the constants are arranged accordingly. In [15], Zaitsev and Polyanin present a solution to (1)
The primary objectives of this article are as follows: We will begin by presenting the 5 dimensional Lie symmetry group for (1), offering a comprehensive description of its computation. Next, we will utilize this Lie symmetry group to introduce an optimal system, also known as an optimal algebra, for (1). Using the elements of the optimal system, we will then proceed to derive invariant solutions for (1). Following this, we will construct the Lagrangian associated with equation (1), based on the calculated group of symmetries. This will enable us to determine variational symmetries through the application of Noether’s theorem, ultimately leading to the presentation of associated conservation laws. Furthermore, we will employ Ibragimov’s method to establish non-trivial conservation laws. Finally, leveraging the group of symmetries we have identified, we will undertake the classification of the Lie algebra associated with (1).
2. About the Lie group symmetries for relativistic fluid sphere equa-tion.
The purpose of this section is to determine for (1) the group of Lie symmetries. This objective is explained in the following proposition
Proposition 2.1. The Lie group of symmetries for theequation (1)consists of the fol-lowing elements:
And Γ5 = x2y3
Proof. The general form for the generator operators of a Lie group with an admissible parameter for (1) is as follows:
where is the group parameter. The vector field associated with this group of transfor-mations is given by:
with ξ and η being differentiable functions in ℝ2. To calculate the infinitesimals η and ξ in (6), we employ the second extension operator
to the equation (1), resulting in the following symmetry condition:
where η [x] and η[xx] are the coefficients in Γ2 given by:
where Dx is the total derivative operator: Dx = ∂x + yx∂y + yxx∂yx + .
After applying (9) to (8) and substituting the resulting expression for yxx with (1), we obtain the following:
after analyzing the coefficients in regard to the independent variables yx 3; yx 2; yx; 1 we get the following system of determining equations:
Solving in (10a) and (10d) we get
Using these equations in (10b) and (10c) to solve for c1(x); c2(x); c3(y), and c4(y), we obtain the following:
where k1; k2; k3; k4, and k5 are arbitrary constants. Thus, by usingand in the operator (6) and grouping the constants, we obtain Γ1 through Γ5, which constitute the generators of the symmetry group for the equation (1), as proposed in the statement of Proposition 2.1.
3. About optimal system
Considering [16, 18, 19, 20, 21, 17], we will now present the optimal system for (5). To determine the optimal algebra, it is essential to first obtain the corresponding commutator table. This can be calculated using the following operator:
where i = 1; 2, with α, β = 1; …; 5 and ξi α; ξi β are the corresponding coefficients of the Γα, Γβ:
In Table 1, we present the results obtained by applying the operator (11) to the symmetry group (1).
Table 1 Commutators table for (5).
[;] | Γ1 | Γ2 | Γ3 | Γ4 | Γ5 |
Γ1 | 0 | 2Γ2 | 0 | 0 | 2Γ5 |
Γ2 | −2Γ2 | 0 | 0 | −2Γ5 | 0 |
Γ3 | 0 | 0 | 0 | 2Γ4 | 2Γ5 |
Γ4 | 0 | 2Γ5 | −2Γ4 | 0 | 0 |
Γ5 | −2Γ5 | 0 | −2Γ5 | 0 | 0 |
Following the objective for determining the optimal algebra, we must now obtain the ‘Adjoint Representation’ using Table 1 and the next operator (Ad):
In Table 2, we display the adjoint representation for each Γ i, with each entry in this table calculated using the operator mentioned above.
Table 2 Adjoint representation for 5.
Ad[ , ] | Γ1 | Γ2 | Γ3 | Γ4 | Γ5 |
Γ1 | Γ1 | e−2λΓ2 | Γ3 | Γ4 | e−2λΓ5 |
Γ2 | Γ1 + 2λΓ2 | Γ2 | Γ3 | Γ4 + 2λΓ5 | Γ5 |
Γ3 | Γ1 | Γ2 | Γ3 | e−2λΓ4 | e−2λΓ5 |
Γ4 | Γ1 | Γ2 − 2λΓ5 | Γ3 + 2λΓ4 | Γ4 | Γ5 |
Γ5 | Γ1 + 2λΓ5 | Γ2 | Γ3 + 2λΓ5 | Γ4 | Γ5 |
Proposition 3.1. The vector fields that represent the optimal algebra associated with the equation (1) are as follows:
Proof. Considering the generic operator G, which is a linear combination of the symmetry group (5). Let
Using the adjoint operator (Ad) in G and the elements from Table 2, we can simplify the coefficients αi as much as possible, which will be our goal at every step of this proof.
1) Assuming α5 = 1 in (12) we have that G = α1Γ1 + α2Γ2 + α3Γ3 + α4Γ4 + Γ5. Using the adjoint operator to (Γ1; G) and (Γ3; G) no reductions are available, but applying the adjoint operator to (Γ2; G) we obtain
1.1) Case α1 # 0. applying λ1 =
1.1.A) Case α3 # 0. Using λ2 =
1.1.A.A1) Case α1 + α3 # 0. Using λ3= -
Then, we obtain the first reduction of the generic element (12).
1.1. A.A2) Case α1 + α3 = 0. We get in (14), G3 = α1Γ1 - α1Γ3 + b1Γ5. This is how the other optimal element appears
Then, we obtain one more reduction of the generic element (12).
Case α3 = 0. We get, G2 = α1Γ1 + α4Γ4 + b1Γ5. Now, applying the adjoint operator to (Γ5,G2), we have G15 = Ad (exp(λ15Γ5)) G2 = α1Γ1 + α4Γ4 + (b1 + 2α1λ15)Γ5. Then, as Γ1 = 0, we can substitute λ15 =
1.2) Case α1 = 0. Now, we have, G1 = α2Γ2 + α3Γ3 + Γ4 + (1 + 2α4λ1)Γ5.
1.2. A) Case α4 # 0. Using λ1 =
1.2.A.A1) Case α3 # 0. Using λ16 =
Then, α3 # 0, we can substitute λ17 =
1:2:A:A2) Case α3 = 0. We get in (18), G16 = α2Γ2 + Γ4 - 2 α2λ16Γ5.
1:2:A:A2:1) Case α2 6= 0. Applying λ16=
1:2:A:A2:2) Case α2 = 0. We have G16 = Γ4. Now, using the adjoint operator to (Γ5;G16), Therefore, there are no reductions, this is how the other optimal element appears:
1:2:B) Case α4 = 0. We get, G1 = α2Γ2 + α3Γ3 + Γ4 + Γ5. Now, applying the adjoint operator to (Γ4;G1), we have
1:2:B:1) Case α3 # 0. Using λ19 =
Then, as α3 # 0, we can substitute λ20 =
Then, we obtain one more reduction of the generic element (12).
1:2:B:2) Case α3 = 0. We have in (22), G19 = α2Γ2 + Γ4 + (1 - 2α2λ19)Γ5.
1:2:B:2:A1) Case α2 # 0. Using λ19 =
1:2:B:2:A2) Case α2 = 0. We get G19 = Γ4 + Γ5. Now, applying the adjoint operator to (Γ5;G19), it is not possible to further reduce, this is how the other optimal element appears:
2) Assuming α5 = 0 and α4 = 1 in (12), we have that G = α1Γ1 + α2Γ2 + α3Γ3 + Γ4. Using the adjoint operator to (Γ1;G) and (Γ3;G) and there is no reduction, but applying the adjoint operator to (Γ2;G) we obtain
2:1) Case α1 # 0. Using λ4 =
2.1.A) Case α3 # 0. Using λ
5 =
2:1:A:A1) Case α1 + α3 # 0. Using λ
6 =
2.1.A.A 2) Case α1 + α 3 = 0. we get G 6 = α 1Γ1-α 1Γ3 + b 2Γ5. This is how the other optimal element appears:
2.1.B) Case α3 = 0. We have G
5 = α1Γ1 + Γ4 + b
2Γ5. Now, applying the adjoint operator to (Γ5
, G
5), we have G
21 = Ad (exp (λ
21Γ5)) G
5 = α1Γ1 + Γ4 + (b
2 +2 α1
λ
21)Γ5. Then, as αa
1 # 0, we can substitute λ
21 =
2.2) Case α1 = 0. We have in (27), G
4 = α2Γ2 + α3Γ3 +Γ4 + 2λ
4Γ5, using λ
4 =
2.2.A) Case α2 # 0. Using
2:2:A:1) Case α3 # 0. It is clear that is not possible to further reduce, then using λ
22 =
Then, we obtain one more reduction of the generic element (12).
2:2:A:2) Case α3 = 0. We obtain G 22 = α2Γ2 + b 14Γ4. This is how the other optimal element appears:
2:2:B) Case α2 = 0. We have G 21 = α3Γ3 + 2α3 λ 21Γ4 + b 13Γ5.
2:2:B:1) Case α30. Using λ
21 =
Then, as α 3 # 0, we can substitute λ
23 =
2:2:B:2) Case α3 = 0. We have G 21 = b 13Γ5. Now, using the adjoint operator to (Γ5 , G 21), therefore, there are not any more reductions. This is how the other optimal element appears:
3)Assuming α4 = α5 = 0 and α3 = 1 in (12), we have that G = α1Γ1+ α2Γ2+Γ3. Using the adjoint operator to (Γ1 , G) and (Γ3 , G) there is no reduction, but applying the adjoint operator to (Γ2 , G) we obtain
3:1) Case α1 # 0. Using λ7 =
3:1:A) Case 1 + α1 # 0. It is clear that it is not possible to further reduce. Then substituting λ9=
3:1:B) Case 1 + α1 = 0. We have G9 = - Γ1 + Γ3 + b3Γ4, then we have other element of the optimal algebra
3.2) Case α1 = 0. We have G 7 = α2Γ2 + Γ3. Now, using the adjoint operator to (Γ4 , G 7), we get G 24 = Ad (exp (λ 24Γ4)) G 7 = α2Γ2 + Γ3 + 2λ 24Γ4 − 2a 2 λ 24Γ5.
3.2.A
1) Case α2 # 0. It is clear that is not possible to further reduce, then substituting λ
24 =
Using λ
25 =
3:2:A2) Case α2 = 0. We have G24 = Γ3 + 2λ24Γ4. Using λ24 =
Thus, we do not get any more reduction, then using λ26 =
4) Using α3 = α4 = α5 = 0 and α2 = 1 in (12), we obtain that G = α1Γ1 + Γ2. Using the adjoint operator to (Γ1;G) and (Γ3;G) we conclude that there is no reduction, but using the adjoint operator to (Γ2;G) we obtain
4:1) Case α1 # 0. Using λ10 =
4:2) Case α1 = 0. We have G10 = Γ2. Now, using the operator (Γ5;G10), it is not possible to further reduce; however, by applying the adjoint operator to (Γ4;G10), we get
Thus, it is not possible to further reduce it, then using λ14 =
5) Using α2 = α3 = α4 = α5 = 0 and α1 = 1 in (12), we obtain that G = Γ1. Applying the adjoint (Adj) to (Γ1;G) , (Γ3;G) and (Γ4;G) it is not possible to further reduce, but applying the adjoint operator to (Γ2;G) we obtain
it is not possible to further reduce, then substituting λ12 =
It is not possible to further reduce, then substituting λ13 =
4.About invariant solutions
We will characterize the invariant solutions using the operators from Proposition 3.1. To achieve this objective, we will apply the technique of the invariant curve condition ([17], Section 4.3; see also [22]), which is as follows:
An example will be presented below: by taking the element4 from Proposition 3.1 in (45), we get Q = η4 yxξ4 = 0, then (y3) yx(0) = 0, thus y(x) = 0, which is the trivial solution for (1).
Table 3 presents both implicit and explicit solutions obtained following the procedure described in the previous paragraph for each element of Proposition (3.1).
Table 3 Explicit an implicit solutions for (1), with c being a constant.
Elements | Q(x, y, y x ) = 0 | Solutions | Type Solution | |
---|---|---|---|---|
1 | Γ4 | (y 3) - y x (0) = 0 | y(x) = 0 | Trivial |
2 | Γ5 | (x 2 y 3) - y x (0) = 0 | y(x) = 0 | Trivial |
3 | Γ1 + Γ3 | (y) - y x (x) = 0 | y(x) = 0 | Trivial |
4 | Γ1 + Γ4 | (y 3) - y x (x) = 0 | Explicit | |
5 | Γ2 + Γ3 | (y - x 2 y) - y x (x 3) = 0 | Explicit | |
6 | Γ4 + Γ5 | (y 3 + x 2 y 3) - y x (0) = 0 | y(x) = 0 | Trivial |
7 | Γ2 + Γ4 | (y 3 - x 2 y) - y x (x 3) = 0 | Explicit | |
8 | Γ3 + Γ4 | (y 3 + y) - y x (0) = 0 | y(x) = 0 | Trivial |
9 | Γ1 + Γ5 | (x 2 y 3) - y x (x) = 0 | Explicit | |
10 | Γ2 + Γ5 | (x 2 y 3 - x 2 y) - y x (x 3) = 0 | Explicit | |
11 | Γ1 + Γ2 + Γ5 | (x 2 y 3 - x 2 y) - y x (x 3 + x) = 0 | Explicit | |
12 | Γ2 + Γ4 + Γ5 | (y 3 - x 2 y + x 2 y 3) - y x (x 3) = 0 | Explicit | |
13 | Γ3 + Γ4 + Γ5 | (y 3 + x 2 y 3 + y) - y x (0) = 0 | y 2 + x 2 y 2 + 1 = 0 , y(x) # 0 | Implicit |
14 | Γ1 - Γ3 + Γ5 | (x 2 y 3 - y) - y x (x) = 0 | Explicit | |
15 | -Γ1 + Γ3 + Γ4 | (y 3 + y) - y x (-x) = 0 | Explicit | |
16 | Γ2 + Γ3 - Γ4 | (y - y 3 - x 2 y) - y x (x 3) = 0 | Explicit | |
17 | Γ2 + Γ3 + Γ4 + Γ5 | (x 2 y 3 + y 3 + y - x 2 y) - y x (x 3) = 0 | Explicit | |
18 | Γ1 + Γ3 + Γ4 + Γ5 | (y 3 + x 2 y 3 + y) - y x (x) = 0 | Explicit |
Remarks : Note that the solution in numeral 10 coincides with a particular solution presented in [11]. The solution in numeral 9 coincides with the solution presented in [12] and [14].
5.On the calculation of variational symmetries and the presentation of conserved quantities
We will calculate the variational symmetries of (1), and using Noether’s theorem [2], we will present the conserved quantities.
According to Nucci [23], our first step will be to use the Jacobi Last Multiplier method to calculate the inverse of the determinant Δ with the ultimate goal of obtaining the
Lagrangian.
where Γ
4,x
, Γ
4,y
, Γ
3,x
, and Γ
3,y
are the components of the symmetries Γ3 and Γ4 presented in Proposition 5, and Γ41, Γ31 as their first prolongations. Then, we have ∆ = 2y
3
y
x
, thus M =
with arbitrary functions f1 and f2. In (46), consider f1 = f2 = 0. (Note: other Lagrangians can be calculated for (1) using different vector fields in Proposition 5). Thus, we obtain the following:
Applying (46) and (9), we have the following:
In the last equation, associating terms in regard to 1; yx; yx 2 and yx 3; and simplifying some terms we obtain the following determinant equations:
If we solve the system (47a), (47b) and (47c) for ; and f, we obtain the generators of the variational Noether’s symmetries, these solutions are
where α1; α2; α3 and a4 are constants. Thus, the Noether symmetry group or variational symmetries are
Remarks : Note that V1 = Γ4 and V2 = Γ1, this implies that, two of the symmetries of equation (1), are variational symmetries. If we follow what is proposed in [24], the way to calculate the conserved quantities is to solve the expression
so, using (46), (48) and (49). Therefore, the conserved quantities are given by
6. About Nonlinear Self-Adjointness
In this section, we present the main definitions in N. Ibragimov’s approach to nonlinear self adjointness of differential equations adopted to our specific case. For further details the interested reader is directed to [25, 26, 27].
Consider second order differential equation
with independent variables x and a dependent variable y, where y(1); y(2); y(s) the collection of 1; 2;…; s -th order derivatives of y:
Definition 6.1. Let ℒ be a differential function and = (x)-the new dependent variable, known as the adjoint variable or nonlocal variable [27]. The formal Lagrangian for ℒ = 0 is the differential function defined by
Definition 6.2. Let ℒ be a differential function and for the differential equation (51), denoted by ℒ[y] = 0, we define the adjoint differential function to ℒ by
and the adjoint differential equation by
where the Euler operator
and Dxi is the total derivative operator with respect to xi defined by
Definition 6.3. The differential equation (51) is said to be nonlinearly selfadjoint if there exists a substitution
such that
for some undetermined coefficient λ = λ(x, y, · · · ). If ν = φ(y) in (56) and (57), the equation (51) is called quasi self-adjoint. If ν = y, we say that the equation (51) is strictly self-adjoint.
Now we shall obtain the adjoint equation to the eq. (1). For this purpose we write (1) in the form (51), where
Then the corresponding formal Lagrangian (52) is given by
and the Euler operator (55) transfomed into:
Now, the explicit form of the operator (60), which was applied to ℒ, have the form (59).
Thus, we get the adjoint equation (54) for (1):
The following proposition presents the most important result of the current section.
Proposition 6.4. The following substitution (x; y) makes equation (1) nonlinearly self-adjoint
where k1; k2 are arbitrary constants.
Proof. Substituting in (61), and then in (58), v=
Now, we studies only Eqs. (63b),(63d) and (63e) because the Eq.(63c) is obtaned from
Eq.(63b) by differentiation with respect to x:
When solving the system (63a)-(63e) for
Then the proposition is proved.
7. About conservation laws
In this section, using the conservation theorem of N. Ibragimov in [27], we will establish some conservation laws for (1). Since the Eq. (1) is of second order, the formal Lagrangian contains derivatives up to order two. Thus, the general formula in [27] for the component of the conserved vector is reduced to
Where
j = 1; ; 5 the formal Lagrangian (59)
and ηj, ξj are the infinitesimals of a Lie group symmetry admitted by Eq. (1), stated in (5). From (1), (5) and (62) into (65) we get the following conservation vectors for each symmetry indicated in (5).
where = y-3 k1x-1 + k2x and vx = y-3 (k1x-1 + k2x)
8. Classification of Lie algebra
Using Levi’s theorem, it is possible to classify a finite-dimensional Lie algebra with char-acteristic 0. Also, this theorem makes it possible to deduce the existence of two important classes of Lie algebras: The solvable algebra and the semisimple algebra. As it is known, for the mentioned algebras, there are certain particularities, for example, within the soluble ones there are the Nilpotent Lie algebras.
If we look at the group of generators present in the Table 1, we get a five dimensional Lie algebra. A basic and classical way to classify a Lie algebra is by means of the Cartan-Killing form, which is denote as K(:;:), this form is expressed in accordance with the following propositions [28].
Proposition 8.1. (Cartan’s theorem) A Lie algebra is semisimple if and only if its Killing form is nondegenerate.
Proposition 8.2. A Lie subalgebra g is solvable if and only if K(X; Y ) = 0 for all X 2 [g; g] and Y 2 g. Other way to write that is K(g; [g; g]) = 0.
We also need the next statements to make the classification.
Definition 8.3. Let g be a finite-dimensional Lie algebra over an arbitrary field k. Choose a basis e j , 1 ≤ i ≤ n, in g where n = dim g and set [e i , e j ] = C ij k e k . Then the coefficients Cij k are called structure constants.
Proposition 8.4. Let g1 and g2 be two Lie algebras of dimension n. Suppose each has a basis with respect to which the structure constant are the same. Then g1 and g2 are isomorphic.
Let be g the Lie algebra related to the group of infinitesimal generators of the equation (1). Analyzing the table of the commutators (Table 1), it is enough to consider the next relations:
[Γ1 , Γ2] = 2Γ2, [Γ1 , Γ5] = 2Γ5, [Γ2 , Γ4] = -2Γ5, [Γ3 , Γ4] = 2Γ4, [Γ3 , Γ5] = -2Γ5.
The matrix form of the Cartan-Killing K representation is:
which the determinant vanishes, and thus by Cartan criterion it is not semisimple, (see Proposition 8.1). Since a nilpotent Lie algebra has a Cartan-Killing form that is identi- cally zero, we conclude, using the counter-reciprocal of the last claim, that the Lie algebra g is not nilpotent. We verify that the Lie algebra is solvable using the Cartan criteria to solvability, (Proposition 8.2), and then we have a solvable nonnilpotent Lie algebra. The Nilradical of the Lie algebra g is generated by Γ2 , Γ4 , Γ5, that is, we have a Solvable Lie algebra with three dimensional Nilradical. Let m the dimension of the Nilradical M of a Solvable Lie algebra. In this case, in fifth dimensional Lie algebra we have that 2 ≤ m ≤ 5. Mubarakzyanov in [29] classified the 5-dimensional solvable nonlilpotent Lie algebras, in particular the solvable nonnilpotent Lie algebra with three dimensional Nilradical, this Nilradical is isomorphic to h3 the Heisenberg Lie algebra. Then by the Proposition 8.4, and consequently we establish a isomorphism of Lie algebras with g and the Lie algebra g 5,34 . In summery we have the next proposition.
Proposition 8.5. The 5-dimensional Lie algebra g related to the symmetry group of the equation (1) is a solvable nonnilpotent Lie algebra with three dimensional Nilridical. Besides that Lie algebra is isomorphich with g5;34 in the Mubarakzyanov’s classification.
9. Conclusion
Utilizing the Lie symmetry group (see Proposition 2.1), we obtained the optimal algebra (see Proposition 3.1), applying these operators it was possible to determine all the in-variant solutions (see Table 3), with the exception of those presented in numerals 9 and 10, the rest of these solutions have not been presented so far in the literature.
We have presented the variational symmetries for (1) as described in (49), along with their respective conservation laws in (50). Additionally, by leveraging nonlinear self-adjointness (refer to Proposition 6.4), we have constructed non-trivial conservation laws using Ibragimov’s method (66). The Lie algebra associated with the equation (1) is a solvable non-nilpotent Lie algebra with a three-dimensional nilradical. Furthermore, this Lie algebra is isomorphic to g5;34 in Mubarakzyanov’s classification.
The objectives initially proposed for the Lie algebra classification of (1) have been ac-complished.
For future research, it would be valuable to explore the theory of equivalence groups, as it can facilitate preliminary classifications to structure a comprehensive classification of equation (1).