Duality of Super D-brane Actions in Type IIB Supergravity Background

We show that supersymmetric and $\kappa$-symmetric Dp-brane actions in type II supergravity background have the same duality transformation properties as those in a flat Minkowskian background. Specially, it is shown that the super D-string transforms in a covariant way while the super D3-brane is self-dual under the $SL(2,Z)$ duality. Also, the D2-brane and the D4-brane transform in ways expected from the relation between type IIA superstring theory and M-theory. The present study proves that various duality symmetries, which were originally found in the flat background field, are precisely valid even in the curved background geometry.