Well-posed infinite horizon variational problems on a compact manifold

We give an effective sufficient condition for a variational problem with infinite horizon on a compact Riemannian manifold M to admit a smooth optimal synthesis, i. e. a smooth dynamical system on M whose positive semi-trajectories are solutions to the problem. To realize the synthesis we construct a well-projected to M invariant Lagrange submanifold of the extremals' flow in the cotangent bundle T*M. The construction uses the curvature of the flow in the cotangent bundle and some ideas of hyperbolic dynamics

Jacobi fields in optimal control: one-dimensional variations

We study the structure of Jacobi fields in the case of an analytic system and piece-wise analytic control. Moreover, we consider only 1-dimensional control variations. Jacobi fields are piece-wise analytic in this case but may have much more singularities than the control. We derive ODEs that these fields satisfy on the intervals of regularity and study behavior of the fields in a neighborhood of a singularity where the ODE becomes singular and the Jacobi fields may have jumps

Controllability on the group of diffeomorphisms

Given a compact manifold M, we prove that any bracket generating family of vector fields on M, which is invariant under multiplication by smooth functions, generates the connected component of the identity of the group of dieomorphisms of M

Generalized Ricci Curvature Bounds for Three Dimensional Contact Subriemannian manifolds

Measure contraction property is one of the possible generalizations of Ricci curvature bound to more general metric measure spaces. In this paper, we discover sufficient conditions for a three dimensional contact subriemannian manifold to satisfy this property.Comment: 49 page

Controllability on infinite-dimensional manifolds

Following the unified approach of A. Kriegl and P.W. Michor (1997) for a treatment of global analysis on a class of locally convex spaces known as convenient, we give a generalization of Rashevsky-Chow's theorem for control systems in regular connected manifolds modelled on convenient (infinite-dimensional) locally convex spaces which are not necessarily normable.Comment: 19 pages, 1 figur

Geometric Approach to Pontryagin's Maximum Principle

Since the second half of the 20th century, Pontryagin's Maximum Principle has been widely discussed and used as a method to solve optimal control problems in medicine, robotics, finance, engineering, astronomy. Here, we focus on the proof and on the understanding of this Principle, using as much geometric ideas and geometric tools as possible. This approach provides a better and clearer understanding of the Principle and, in particular, of the role of the abnormal extremals. These extremals are interesting because they do not depend on the cost function, but only on the control system. Moreover, they were discarded as solutions until the nineties, when examples of strict abnormal optimal curves were found. In order to give a detailed exposition of the proof, the paper is mostly self\textendash{}contained, which forces us to consider different areas in mathematics such as algebra, analysis, geometry.Comment: Final version. Minors changes have been made. 56 page

The rolling problem: overview and challenges

In the present paper we give a historical account -ranging from classical to modern results- of the problem of rolling two Riemannian manifolds one on the other, with the restrictions that they cannot instantaneously slip or spin one with respect to the other. On the way we show how this problem has profited from the development of intrinsic Riemannian geometry, from geometric control theory and sub-Riemannian geometry. We also mention how other areas -such as robotics and interpolation theory- have employed the rolling model.Comment: 20 page

On the Alexandrov Topology of sub-Lorentzian Manifolds

It is commonly known that in Riemannian and sub-Riemannian Geometry, the metric tensor on a manifold defines a distance function. In Lorentzian Geometry, instead of a distance function it provides causal relations and the Lorentzian time-separation function. Both lead to the definition of the Alexandrov topology, which is linked to the property of strong causality of a space-time. We studied three possible ways to define the Alexandrov topology on sub-Lorentzian manifolds, which usually give different topologies, but agree in the Lorentzian case. We investigated their relationships to each other and the manifold's original topology and their link to causality.Comment: 20 page

Controllability of 2D Euler and Navier-Stokes equations by degenerate forcing

We study controllability issues for the 2D Euler and Navier- Stokes (NS) systems under periodic boundary conditions. These systems describe motion of homogeneous ideal or viscous incompressible fluid on a two-dimensional torus T^2. We assume the system to be controlled by a degenerate forcing applied to fixed number of modes. In our previous work [3, 5, 4] we studied global controllability by means of degenerate forcing for Navier-Stokes (NS) systems with nonvanishing viscosity (\nu > 0). Methods of dfferential geometric/Lie algebraic control theory have been used for that study. In [3] criteria for global controllability of nite-dimensional Galerkin approximations of 2D and 3D NS systems have been established. It is almost immediate to see that these criteria are also valid for the Galerkin approximations of the Euler systems. In [5, 4] we established a much more intricate suf- cient criteria for global controllability in finite-dimensional observed component and for L2-approximate controllability for 2D NS system. The justication of these criteria was based on a Lyapunov-Schmidt reduction to a finite-dimensional system. Possibility of such a reduction rested upon the dissipativity of NS system, and hence the previous approach can not be adapted for Euler system. In the present contribution we improve and extend the controllability results in several aspects: 1) we obtain a stronger sufficient condition for controllability of 2D NS system in an observed component and for L2- approximate controllability; 2) we prove that these criteria are valid for the case of ideal incompressible uid (\nu = 0); 3) we study solid controllability in projection on any finite-dimensional subspace and establish a sufficient criterion for such controllability

Energy minimization problem in two-level dissipative quantum control: meridian case

International audienceWe analyze the energy-minimizing problem for a two-level dissipative quantum system described by the Kossakowsky-Lindblad equation. According to the Pontryagin Maximum Principle (PMP), minimizers can be selected among normal and abnormal extremals whose dynamics are classified according to the values of the dissipation parameters. Our aim is to improve our previous analysis concerning 2D solutions in the case where the Hamiltonian dynamics are integrable