Pointwise second-order necessary conditions for optimal control problems evolved on Riemannian manifolds (Q512349)

Let \(M\) be a complete, simply connected, Riemannian manifold of dimension \(n.\) Suppose \(T > 0,\) \(U\) is a Polish space, and \( f : [0, T ] \times M \times U \rightarrow T M\) and \(f^0 : [0, T ] \times M \times U \rightarrow \mathbb{R}\) are two given maps. Where \(T M\) is the tangent bundle, \(y: [0, T] \rightarrow M \) and \( u: [0, T] \rightarrow U\) are defined. For a given \(y_0\in M\) consider the following control system \[ \min J(u) =: \int^T_0 f^0(t, y(t), u(t))dt, \] subject to the following conditions \[ y' (t) = f (t , y (t), u (t)), \mathrm{a.e.}~~ t \in [0, T ],~ y (0) = y_0. \] In this article, the authors obtain a second-order necessary condition for the above optimal control problem.