Periodic time-optimal controls on two-step free-nilpotent Lie groups (Q2243761)

In \(\mathbb{R}^n\), consider the control system \[ \dot{q}=\sum_{i=1}^k X_i(q) u_i, \] with \(X_i\), \(i=1,\ldots ,k\ge 2\) being smooth vector fields, and \(u=(u_1,\ldots,u_k)\in U\) being the controls, where \(U\) is either an ellipsoid centered at the origin or more generally a symmetric compact and (strictly) convex set containing the origin in its interior. Assume that the dimension of \[ \mathrm{span}\, (X_1,\ldots , X_k, [X_i,X_j], 1\le i < j\le k) \] is \(k(k+1)/2\) and consider the problem of reaching a given point \(q_1\) from \(q_0\) in minimum time. This problem is meaningful thanks to Rashevskii-Chow theorem. Extremal trajectories satisfy the Pontryagin maximum principle. The author discusses properties of the solutions of the adjoint system and of the optimal control, depending on a skew symmetric matrix that is constructed upon the Hamiltonians of the vector fields, i.e., \(h_i(\lambda)=\langle\lambda , X_i\rangle\) and \(\langle h_{ij}(\lambda)=\langle\lambda , [X_i,X_j]\rangle\), and possibly on \(U\). Sufficient conditions for the control that depend on the adjoint vector to be constant, optimal, or periodic/non-periodic are given. Moreover, prime integrals of the adjoint system are discussed, in particular the so called Casimir functions.