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

DOI10.1016/J.GEOMPHYS.2010.12.009zbMATH Open1216.53039arXiv0908.4397OpenAlexW1967045457WikidataQ115353279 ScholiaQ115353279MaRDI QIDQ631648FDOQ631648

Authors: Chengbo Li, Igor Zelenko 

Publication date: 14 March 2011

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

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.

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

Recommendations

• On curvature-type invariants for natural mechanical systems on sub-Riemannian structures associated with a principle G-bundle
• On Jacobi fields and a canonical connection in sub-Riemannian geometry.
• Parametrized curves in Lagrange Grassmannians
• The Schouten curvature tensor and the Jacobi equation in sub-Riemannian geometry
• Comparison theorems for conjugate points in sub-Riemannian geometry

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)

Cites Work

• A tour of subriemannian geometries, their geodesics and applications
• Title not available (Why is that?)
• Title not available (Why is that?)
• Feedback-invariant optimal control theory and differential geometry. I: Regular extremals
• Geometry of optimal control problems and Hamiltonian systems
• Differential geometry of curves in Lagrange Grassmannians with given Young diagram
• Geometry of Jacobi curves. I
• Geometry of Jacobi curves. II
• Parametrized curves in Lagrange Grassmannians
• Title not available (Why is that?)

Cited In (17)

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

This page was built for publication: Jacobi equations and comparison theorems for corank 1 sub-Riemannian structures with symmetries

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q631648)