Casimir functions of free nilpotent Lie groups of steps 3 and 4

DOI10.1007/S10883-020-09515-0MaRDI QIDQ2240779zbMATH OpenOpenAlexWikidataFDO

Authors A. V. Podobryaev

Publication date 4 November 2021

Published in Journal of Dynamical and Control Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2006.00224

zbMATH Keywords

Casimir functionscoadjoint orbitsfree Carnot groupgeometric control theoryintegrationnilpotent Lie algebrasnilpotent Lie groupssub-Finsler geometrysub-Riemannian geometry

Mathematics Subject Classification ID

Coadjoint orbits; nilpotent varieties (17B08) Solvable, nilpotent (super)algebras (17B30) Nilpotent and solvable Lie groups (22E25) PDEs on Heisenberg groups, Lie groups, Carnot groups, etc. (35R03) Sub-Riemannian geometry (53C17) Geometric methods (93B27)

Abstract: Any free nilpotent Lie algebra is determined by its rank and step. We consider free nilpotent Lie algebras of steps 3, 4 and corresponding connected and simply connected Lie groups. We construct Casimir functions of such groups, i.e., invariants of the coadjoint representation. For free 3-step nilpotent Lie groups we get a full description of coadjoint orbits. It turns out that general coadjoint orbits are affine subspaces, and special coadjoint orbits are affine subspaces or direct products of nonsingular quadrics. The knowledge of Casimir functions is useful for investigation of integration properties of dynamical systems and optimal control problems on Carnot groups. In particular, for some wide class of time-optimal problems on 3-step free Carnot groups we conclude that extremal controls corresponding to two-dimensional coadjoint orbits have the same behavior as in time-optimal problems on the Heisenberg group or on the Engel group.

Review text

The author considers free nilpotent Lie algebras of steps 3,4 and corresponding simply connected Lie groups (which called as Carnot groups). A construction of Casimir functions of such groups, i.e., invariants of the coadjoint representation is given (for polynomial functions). Casimir functions may be considered as integrals of the Hamiltonian system of Pontryagin maximum principle. The coadjoint orbits are invariant under the flow of the vertical part of this Hamiltonian system. An algorithm for constructing Casimir functions is described. Some illustrations are given, in particular -- the table of Casimir functions computed according to this algorithm with the help of Wolfram Mathematica for the free 3-step Carnot group. For free 3-step nilpotent Lie groups a full description of coadjoint orbits is presented. For a three-step free Carnot group of rank \(r > 3\) it is proved that there are \((r^3 - r)/3\) linear Casimir functions and \((r^2 - 3r)/2\) Casimir functions that are linear on the level sets of the first ones (the degrees of these functions are equal to \(r + 1\)). This is a complete system of Casimir functions. Here general coadjoint orbits are affine subspaces, and special coadjoint orbits are affine subspaces or direct products of nonsingular quadrics. For step 3 an exceptional case is the free nilpotent Lie group of step 3 and rank 2 (called the Cartan group). In this case there are two independent linear Casimir functions and a quadratic one. Some applications of Casimir functions for investigation of integration properties of dynamical systems and optimal control problems on Carnot groups are given. In particular, for some wide class of time-optimal problems on 3-step free Carnot groups it is shown that extremal controls corresponding to two-dimensional coadjoint orbits have the same behavior as in time-optimal problems on the Heisenberg group or on the Engel group.

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Cited in

(4)

• Coadjoint orbits and time-optimal problems for step-2 free nilpotent Lie groups
• Coadjoint orbits of three-step free nilpotent Lie groups and time-optimal control problem
• Extremal curves in nilpotent Lie groups
• Homogeneous geodesics in sub-Riemannian geometry

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