A vector field potentiality criterion in sub-Riemannian geometry (Q1702499)

Let \(H\) be the \(n\)-dimensional horizontal distribution of a sub-Riemannian manifold \(M\) of dimension \(N\). Consider linearly independent vector fields \(X_1,\ldots,X_n\) spanning \(H\) and complete them by vector fields \(X_{n+1},\ldots,X_N\) to a basis of the whole tangent bundle of \(M\). Since \(H\) is completely nonintegrable \(X_{n+1},\ldots,X_N\) are linear combinations of vector fields obtained as iterated commutators of \(X_{1},\ldots,X_n\). In analogy to classical analysis the author defines the subgradient of a smooth function \(f\) on \(M\) by \[ \nabla_{\mathcal L}f= X_1f\,X_1+\cdots+X_nf\,X_n. \] Let the functions \(c_{ijk}\) be defined by \([X_i,X_j]= \sum\limits_{k=1,\ldots,N}c_{ijk}X_k\) and let \(a_1,\ldots,a_n\) be smooth functions on \(M\). It is shown that the horizontal vector field \(a_1X_1+\cdots+a_nX_n\) is the subgradient of a function if \[ X_ia_j(x)-X_ja_i(x)=\sum\limits_{k=1,\ldots,N}c_{ijk}a_k(x) \text{ for } 1\leq i<j\leq N, \] where for \(k=n+1,\ldots, N\) the function \(a_k\) is a linear combination of functions of the form \(X_{i_1}\cdots X_{i_{l-1}}a_{i_l}\), \( i_1,\ldots,i_l\in\{1,\ldots,n\}\). This criterion is exemplified by means of special examples: the Euclidean group of the 2-plane, the Martinet distribution and Carnot groups.