Maxwell strata and conjugate points in the sub-Riemannian problem on the Lie group SH(2)

DOI10.1007/S10883-016-9318-7zbMATH Open1351.49003arXiv1408.2043OpenAlexW39913892WikidataQ115383668 ScholiaQ115383668MaRDI QIDQ334629FDOQ334629

Authors: Yasir Awais Butt, Aamer Iqbal Bhatti, Yu L. Sachkov 

Publication date: 1 November 2016

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

Abstract: We study local and global optimality of geodesics in the left invariant sub-Riemannian problem on the Lie group $mathrmSH(2)$. We obtain the complete description of the Maxwell points corresponding to the discrete symmetries of the vertical subsystem of the Hamiltonian system. An effective upper bound on the cut time is obtained in terms of the first Maxwell times. We study the local optimality of extremal trajectories and prove the lower and upper bounds on the first conjugate times. We also obtain the generic time interval for the $n$-th conjugate time which is important in the study of sub-Riemannian wavefront. Based on our results of $n$-th conjugate time and $n$-th Maxwell time, we prove a generalization of Rolle's theorem that between any two consecutive Maxwell points, there is exactly one conjugate point along any geodesic.

Full work available at URL: https://arxiv.org/abs/1408.2043

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zbMATH Keywords

optimalitysub-Riemannian geometrygeodesicsconjugate timecut timeMaxwell pointsspecial hyperbolic group

Mathematics Subject Classification ID

Existence theories for optimal control problems involving ordinary differential equations (49J15) Sub-Riemannian geometry (53C17) Nonlinear systems in control theory (93C10) Analysis on real and complex Lie groups (22E30) Manifolds and measure-geometric topics (49Q99) Geometric methods (93B27)

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Cited In (6)

• Cut locus and optimal synthesis in sub-Riemannian problem on the Lie group SH(2)
• Conjugate time in the sub-Riemannian problem on the Cartan group
• Symmetries in left-invariant optimal control problems
• Extremals for a series of sub-Finsler problems with 2-dimensional control via convex trigonometry
• Maxwell strata in sub-Riemannian problem on the group of motions of a plane
• Symmetric extremal trajectories in left-invariant optimal control problems

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