Jacobi equations and comparison theorems for corank 1 sub-Riemannian structures with symmetries

DOI10.1016/J.GEOMPHYS.2010.12.009MaRDI QIDQ631648zbMATH OpenOpenAlexWikidataFDO

Authors Chengbo Li, Igor Zelenko

Publication date 14 March 2011

Published in Journal of Geometry and Physics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/0908.4397

zbMATH Keywords

comparison theoremsconjugate pointsJacobi equationscurves in Lagrange Grassmanniansmagnetic field on Riemannian manifoldssub-Riemannian structures

Mathematics Subject Classification ID

Oscillation theory, zeros, disconjugacy and comparison theory for ordinary differential equations (34C10) Existence theories for optimal control problems involving ordinary differential equations (49J15) Sub-Riemannian geometry (53C17) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45)

Abstract: The Jacobi curve of an extremal of optimal control problem is a curve in a Lagrangian Grassmannian defined up to a symplectic transformation and containing all information about the solutions of the Jacobi equations along this extremal. In our previous works we constructed the canonical bundle of moving frames and the complete system of symplectic invariants, called curvature maps, for parametrized curves in Lagrange Grassmannians satisfying very general assumptions. The structural equation for a canonical moving frame of the Jacobi curve of an extremal can be interpreted as the normal form for the Jacobi equation along this extremal and the curvature maps can be seen as the "coefficients" of this normal form. In the case of a Riemannian metric there is only one curvature map and it is naturally related to the Riemannian sectional curvature. In the present paper we study the curvature maps for a sub-Riemannian structure on a corank 1 distribution having an additional transversal infinitesimal symmetry. After the factorization by the integral foliation of this symmetry, such sub-Riemannian structure can be reduced to a Riemannian manifold equipped with a closed 2-form (a magnetic field). We obtain explicit expressions for the curvature maps of the original sub-Riemannian structure in terms of the curvature tensor of this Riemannian manifold and the magnetic field. We also estimate the number of conjugate points along the sub-Riemannian extremals in terms of the bounds for the curvature tensor of this Riemannian manifold and the magnetic field in the case of an uniform magnetic field. The language developed for the calculation of the curvature maps can be applied to more general sub-Riemannian structures with symmetries, including sub-Riemmannian structures appearing naturally in Yang-Mills fields.

Recommendations

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Cites work

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Cited in

(17)

• Generalized Ricci curvature bounds for three dimensional contact subriemannian manifolds
• Left-invariant sub-Riemannian Engel structures: abnormal geodesics and integrability
• Ricci curvature type lower bounds for sub-Riemannian structures on Sasakian manifolds.
• Riemannian and sub-Riemannian geodesic flows
• Curvature dimension inequalities and subelliptic heat kernel gradient bounds on contact manifolds
• Curvatures and hyperbolic flows for natural mechanical systems in Finsler geometry
• Bishop and Laplacian comparison theorems on three-dimensional contact sub-Riemannian manifolds with symmetry
• A note on hyperbolic flows in sub-Riemannian structures with transverse symmetries
• Comparison theorems for conjugate points in sub-Riemannian geometry
• On Jacobi fields and a canonical connection in sub-Riemannian geometry.
• On curvature-type invariants for natural mechanical systems on sub-Riemannian structures associated with a principle G-bundle
• Sub-Riemannian curvature in contact geometry
• A note on sub-Riemannian structures associated with complex Hopf fibrations
• Curvature-dimension inequalities on sub-Riemannian manifolds obtained from Riemannian foliations. I
• Curvature: A Variational Approach
• Differential geometry of curves in Lagrange Grassmannians with given Young diagram
• Sub-Riemannian Ricci curvatures and universal diameter bounds for 3-Sasakian manifolds

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