Extremal trajectories and Maxwell strata in sub-Riemannian problem on group of motions of pseudo-Euclidean plane

DOI10.1007/S10883-014-9239-2zbMATH Open1301.49116arXiv1305.1338OpenAlexW3102319921WikidataQ115383683 ScholiaQ115383683MaRDI QIDQ459032FDOQ459032

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

Publication date: 8 October 2014

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

Abstract: We consider the sub-Riemannian length minimization problem on the group of motions of pseudo Euclidean plane that form the special hyperbolic group SH(2). The system comprises of left invariant vector fields with 2-dimensional linear control input and energy cost functional. We apply the Pontryagin Maximum Principle to obtain the extremal control input and the sub-Riemannian geodesics. A change of coordinates transforms the vertical subsystem of the normal Hamiltonian system into the mathematical pendulum. In suitable elliptic coordinates the vertical and the horizontal subsystems are integrated such that the resulting extremal trajectories are parametrized by the Jacobi elliptic functions. Qualitative analysis reveals that the projections of normal extremal trajectories on the xy-plane have cusps and inflection points. The vertical subsystem being a generalized pendulum admits reflection symmetries that are used to obtain a characterization of the Maxwell strata.

Full work available at URL: https://arxiv.org/abs/1305.1338

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zbMATH Keywords

sub-Riemannian geometryelliptic coordinatespseudo-Euclidean planeextremal trajectoriesMaxwell strata

Mathematics Subject Classification ID

Existence theories for optimal control problems involving ordinary differential equations (49J15) Optimization of shapes other than minimal surfaces (49Q10) Sub-Riemannian geometry (53C17) Nonlinear systems in control theory (93C10) Analysis on real and complex Lie groups (22E30) Geometric methods (93B27)

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Cited In (14)

• Cut time in sub-riemannian problem on engel group
• Cut locus and optimal synthesis in sub-Riemannian problem on the Lie group SH(2)
• Superintegrability of left-invariant sub-Riemannian structures on unimodular three-dimensional Lie groups
• On extensions of sub-Riemannian structures on Lie groups
• On the classification of sub-Riemannian structures on a 5D two-step nilpotent Lie group
• On sub-Riemannian and Riemannian structures on the Heisenberg groups
• Sufficient conditions for a path-connected set of local solutions to an optimal control problem
• Comparison theorems for conjugate points in sub-Riemannian geometry
• Maxwell strata and conjugate points in the sub-Riemannian problem on the Lie group SH(2)
• The normal sub-Riemannian geodesic flow on E(2) generated by a left-invariant metric and a right-invariant distribution
• Extremal trajectories in a nilpotent sub-Riemannian problem on the Engel group
• 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
• Pontryagin maximum principle, (co)adjoint representation, and normal geodesics of left-invariant (sub-)Finsler metrics on Lie groups

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