We study properties of the space of horizontal paths joining the origin with a vertical point on a generic two-step Carnot group. The energy is a Morse-Bott functional on paths and its critical points (sub-Riemannian geodesics) appear in families (compact critical manifolds) with controlled topology. We study the asymptotic of the number of critical manifolds as the energy grows. The topology of the horizontal-path space is also investigated, and we find asymptotic results for the total Betti number of the sublevels of the energy as it goes to infinity. We interpret these results as local invariants of the sub-Riemannian structure.

PB - Mathematical Sciences Publishers VL - 19 ER - TY - JOUR T1 - On conjugate times of LQ optimal control problems Y1 - 2014 A1 - Andrei A. Agrachev A1 - Luca Rizzi A1 - Pavel Silveira KW - Optimal control, Lagrange Grassmannian, Conjugate point AB - Motivated by the study of linear quadratic optimal control problems, we consider a dynamical system with a constant, quadratic Hamiltonian, and we characterize the number of conjugate times in terms of the spectrum of the Hamiltonian vector field $\vec{H}$. We prove the following dichotomy: the number of conjugate times is identically zero or grows to infinity. The latter case occurs if and only if $\vec{H}$ has at least one Jordan block of odd dimension corresponding to a purely imaginary eigenvalue. As a byproduct, we obtain bounds from below on the number of conjugate times contained in an interval in terms of the spectrum of $\vec{H}$. PB - Springer UR - http://hdl.handle.net/1963/7227 N1 - 14 pages, 1 figure U1 - 7261 U2 - Mathematics U4 - 1 U5 - MAT/05 ANALISI MATEMATICA ER - TY - RPRT T1 - The curvature: a variational approach Y1 - 2013 A1 - Andrei A. Agrachev A1 - Davide Barilari A1 - Luca Rizzi KW - Crurvature, subriemannian metric, optimal control problem AB - The curvature discussed in this paper is a rather far going generalization of the Riemannian sectional curvature. We define it for a wide class of optimal control problems: a unified framework including geometric structures such as Riemannian, sub-Riemannian, Finsler and sub-Finsler structures; a special attention is paid to the sub-Riemannian (or Carnot-Caratheodory) metric spaces. Our construction of the curvature is direct and naive, and it is similar to the original approach of Riemann. Surprisingly, it works in a very general setting and, in particular, for all sub-Riemannian spaces. PB - SISSA UR - http://hdl.handle.net/1963/7226 N1 - 88 pages, 10 figures, (v2) minor typos corrected, (v3) added sections on Finsler manifolds, slow growth distributions, Heisenberg group U1 - 7260 U2 - Mathematics U4 - 1 U5 - MAT/03 GEOMETRIA ER - TY - JOUR T1 - Quadratic cohomology Y1 - 2013 A1 - Andrei A. Agrachev AB - We study homological invariants of smooth families of real quadratic forms as\r\na step towards a \"Lagrange multipliers rule in the large\" that intends to\r\ndescribe topology of smooth vector functions in terms of scalar Lagrange\r\nfunctions. PB - SISSA N1 - 24 pages U1 - 6456 U2 - Mathematics U4 - 1 U5 - MAT/03 GEOMETRIA ER - TY - JOUR T1 - Some open problems Y1 - 2013 A1 - Andrei A. Agrachev KW - Geometry AB - We discuss some challenging open problems in the geometric control theory and sub-Riemannian geometry. PB - SISSA UR - http://hdl.handle.net/1963/7070 U1 - 7064 U2 - Mathematics U4 - 1 U5 - MAT/05 ANALISI MATEMATICA ER - TY - JOUR T1 - On the Hausdorff volume in sub-Riemannian geometry JF - Calculus of Variations and Partial Differential Equations. Volume 43, Issue 3-4, March 2012, Pages 355-388 Y1 - 2012 A1 - Andrei A. Agrachev A1 - Davide Barilari A1 - Ugo Boscain AB - For a regular sub-Riemannian manifold we study the Radon-Nikodym derivative\r\nof the spherical Hausdorff measure with respect to a smooth volume. We prove\r\nthat this is the volume of the unit ball in the nilpotent approximation and it\r\nis always a continuous function. We then prove that up to dimension 4 it is\r\nsmooth, while starting from dimension 5, in corank 1 case, it is C^3 (and C^4\r\non every smooth curve) but in general not C^5. These results answer to a\r\nquestion addressed by Montgomery about the relation between two intrinsic\r\nvolumes that can be defined in a sub-Riemannian manifold, namely the Popp and\r\nthe Hausdorff volume. If the nilpotent approximation depends on the point (that\r\nmay happen starting from dimension 5), then they are not proportional, in\r\ngeneral. PB - SISSA UR - http://hdl.handle.net/1963/6454 U1 - 6399 U2 - Mathematics U4 - 1 U5 - MAT/05 ANALISI MATEMATICA ER - TY - RPRT T1 - Introduction to Riemannian and sub-Riemannian geometry Y1 - 2012 A1 - Andrei A. Agrachev A1 - Davide Barilari A1 - Ugo Boscain PB - SISSA UR - http://hdl.handle.net/1963/5877 U1 - 5747 U2 - Mathematics U3 - Functional Analysis and Applications U4 - -1 ER - TY - JOUR T1 - On robust Lie-algebraic stability conditions for switched linear systems JF - Systems and Control Letters. Volume 61, Issue 2, February 2012, Pages 347-353 Y1 - 2012 A1 - Andrei A. Agrachev A1 - Yurij Baryshnikov A1 - Daniel Liberzon AB - This paper presents new sufficient conditions for exponential stability of switched linear systems under arbitrary switching, which involve the commutators (Lie brackets) among the given matrices generating the switched system. The main novelty feature of these stability criteria is that, unlike their earlier counterparts, they are robust with respect to small perturbations of the system parameters. UR - http://hdl.handle.net/1963/6455 U1 - 6400 U2 - Mathematics U4 - 1 U5 - MAT/05 ANALISI MATEMATICA ER - TY - JOUR T1 - Sub-Riemannian structures on 3D Lie groups JF - Journal of Dynamical and Control Systems. Volume 18, Issue 1, January 2012, Pages 21-44 Y1 - 2012 A1 - Andrei A. Agrachev A1 - Davide Barilari AB -We give a complete classification of left-invariant sub-Riemannian structures on three dimensional Lie groups in terms of the basic differential invariants. As a corollary we explicitly find a sub-Riemannian isometry between the nonisomorphic Lie groups $SL(2)$ and $A^+(\mathbb{R})\times S^1$, where $A^+(\mathbb{R})$ denotes the group of orientation preserving affine maps on the real line.

PB - SISSA UR - http://hdl.handle.net/1963/6453 U1 - 6397 U2 - Mathematics U4 - 1 U5 - MAT/03 GEOMETRIA ER - TY - JOUR T1 - Systems of Quadratic Inequalities JF - Proceedings of the London Mathematical Society, Volume 105, Issue 3, September 2012, Pages 622-660 Y1 - 2012 A1 - Andrei A. Agrachev A1 - Antonio Lerario AB - We present a spectral sequence which efficiently computes Betti numbers of a closed semi-algebraic subset of RP^n defined by a system of quadratic inequalities and the image of the homology homomorphism induced by the inclusion of this subset in RP^n. We do not restrict ourselves to the term E_2 of the spectral sequence and give a simple explicit formula for the differential d_2. PB - SISSA UR - http://hdl.handle.net/1963/7072 U1 - 7066 U2 - Mathematics U4 - 1 U5 - MAT/03 GEOMETRIA ER - TY - JOUR T1 - Bishop and Laplacian Comparison Theorems on Three Dimensional Contact Subriemannian Manifolds with Symmetry Y1 - 2011 A1 - Andrei A. Agrachev A1 - Paul Lee AB - We prove a Bishop volume comparison theorem and a Laplacian comparison\r\ntheorem for three dimensional contact subriemannian manifolds with symmetry. PB - SISSA UR - http://hdl.handle.net/1963/6508 N1 - 25 pages U1 - 6455 U2 - Mathematics U4 - 1 ER - TY - JOUR T1 - Generalized Ricci Curvature Bounds for Three Dimensional Contact Subriemannian manifolds Y1 - 2011 A1 - Andrei A. Agrachev A1 - Paul Lee PB - SISSA UR - http://hdl.handle.net/1963/6507 N1 - This is a revised extended version that contains new results. U1 - 6454 U2 - Mathematics U4 - 1 ER - TY - JOUR T1 - The geometry of Maximum Principle JF - Proceedings of the Steklov Institute of mathematics. vol. 273 (2011), page: 5-27 ; ISSN: 0081-5438 Y1 - 2011 A1 - Andrei A. Agrachev A1 - Revaz Gamkrelidze AB - An invariant formulation of the maximum principle in optimal control is presented, and some second-order invariants are discussed. UR - http://hdl.handle.net/1963/6456 U1 - 6401 U2 - Mathematics U4 - 1 U5 - MAT/05 ANALISI MATEMATICA ER - TY - JOUR T1 - On the Space of Symmetric Operators with Multiple Ground States JF - Functional Analysis and its Applications, Volume 45, Issue 4, December 2011, Pages 241-251 Y1 - 2011 A1 - Andrei A. Agrachev KW - Multiple eigenvalue AB - We study homological structure of the filtrations of the spaces of self-adjoint operators by the multiplicity of the ground state. We consider only operators acting in a finite dimensional complex or real Hilbert space but infinite dimensional generalizations are easily guessed. PB - SISSA UR - http://hdl.handle.net/1963/7069 U1 - 6392 U2 - Mathematics U4 - 1 U5 - MAT/03 GEOMETRIA ER - TY - JOUR T1 - Continuity of optimal control costs and its application to weak KAM theory JF - Calculus of Variations and Partial Differential Equations. Volume 39, Issue 1, 2010, Pages 213-232 Y1 - 2010 A1 - Andrei A. Agrachev A1 - Paul Lee AB - We prove continuity of certain cost functions arising from optimal control of\\r\\naffine control systems. We give sharp sufficient conditions for this\\r\\ncontinuity. As an application, we prove a version of weak KAM theorem and\\r\\nconsider the Aubry-Mather problems corresponding to these systems. PB - SISSA UR - http://hdl.handle.net/1963/6459 N1 - 23 pages, 1 figures U1 - 6405 U2 - Mathematics U4 - 1 U5 - MAT/05 ANALISI MATEMATICA ER - TY - JOUR T1 - Dynamics control by a time-varying feedback JF - Journal of Dynamical and Control Systems. Volume 16, Issue 2, April 2010, Pages :149-162 Y1 - 2010 A1 - Andrei A. Agrachev A1 - Marco Caponigro KW - Discrete-time dynamics AB - We consider a smooth bracket generating control-affine system in R^d and show that any orientation preserving diffeomorphism of R^d can be approximated, in the very strong sense, by a diffeomorphism included in the flow generated by a time-varying feedback control which is polynomial with respect to the state variables and trigonometric-polynomial with respect to the time variable. PB - SISSA UR - http://hdl.handle.net/1963/6461 U1 - 6407 U2 - Mathematics U4 - 1 U5 - MAT/05 ANALISI MATEMATICA ER - TY - JOUR T1 - Invariant Lagrange submanifolds of dissipative systems JF - Russian Mathematical Surveys. Volume 65, Issue 5, 2010, Pages: 977-978 Y1 - 2010 A1 - Andrei A. Agrachev AB - We study solutions of modified Hamilton-Jacobi equations H(du/dq,q) + cu(q) =\\r\\n0, q \\\\in M, on a compact manifold M . PB - SISSA UR - http://hdl.handle.net/1963/6457 U1 - 6403 U2 - Mathematics U4 - 1 U5 - MAT/05 ANALISI MATEMATICA ER - TY - JOUR T1 - Two-dimensional almost-Riemannian structures with tangency points JF - Ann. Inst. H. Poincare Anal. Non Lineaire Y1 - 2010 A1 - Andrei A. Agrachev A1 - Ugo Boscain A1 - Grégoire Charlot A1 - Roberta Ghezzi A1 - Mario Sigalotti AB -Two-dimensional almost-Riemannian structures are generalized Riemannian structures on surfaces for which a local orthonormal frame is given by a Lie bracket generating pair of vector fields that can become collinear. We study the relation between the topological invariants of an almost-Riemannian structure on a compact oriented surface and the rank-two vector bundle over the surface which defines the structure. We analyse the generic case including the presence of tangency points, i.e. points where two generators of the distribution and their Lie bracket are linearly dependent. The main result of the paper provides a classification of oriented almost-Riemannian structures on compact oriented surfaces in terms of the Euler number of the vector bundle corresponding to the structure. Moreover, we present a Gauss-Bonnet formula for almost-Riemannian structures with tangency points.

PB - Elsevier VL - 27 UR - http://hdl.handle.net/1963/3870 U1 - 839 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - Well-posed infinite horizon variational problems on a compact manifold JF - Proceedings of the Steklov Institute of Mathematics. Volume 268, Issue 1, 2010, Pages 17-31 Y1 - 2010 A1 - Andrei A. Agrachev AB - 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 an invariant Lagrangian submanifold (well-projected to M) of the flow of extremals in the cotangent bundle T*M. The construction uses the curvature of the flow in the cotangent bundle and some ideas of hyperbolic dynamics PB - SISSA UR - http://hdl.handle.net/1963/6458 U1 - 6404 U2 - Mathematics U4 - 1 U5 - MAT/05 ANALISI MATEMATICA ER - TY - JOUR T1 - Controllability on the group of diffeomorphisms JF - Ann. Inst. H. Poincaré Anal. Non Linéaire 26 (2009) 2503-2509 Y1 - 2009 A1 - Andrei A. Agrachev A1 - Marco Caponigro AB - 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 identity of the group of diffeomorphisms of M. UR - http://hdl.handle.net/1963/3396 U1 - 936 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - The intrinsic hypoelliptic Laplacian and its heat kernel on unimodular Lie groups JF - J. Funct. Anal. 256 (2009) 2621-2655 Y1 - 2009 A1 - Andrei A. Agrachev A1 - Ugo Boscain A1 - Jean-Paul Gauthier A1 - Francesco Rossi AB - We present an invariant definition of the hypoelliptic Laplacian on sub-Riemannian structures with constant growth vector, using the Popp\\\'s volume form introduced by Montgomery. This definition generalizes the one of the Laplace-Beltrami operator in Riemannian geometry. In the case of left-invariant problems on unimodular Lie groups we prove that it coincides with the usual sum of squares.\\nWe then extend a method (first used by Hulanicki on the Heisenberg group) to compute explicitly the kernel of the hypoelliptic heat equation on any unimodular Lie group of type I. The main tool is the noncommutative Fourier transform. We then study some relevant cases: SU(2), SO(3), SL(2) (with the metrics inherited by the Killing form), and the group SE(2) of rototranslations of the plane.\\nOur study is motivated by some recent results about the cut and conjugate loci on these sub-Riemannian manifolds. The perspective is to understand how singularities of the sub-Riemannian distance reflect on the kernel of the corresponding hypoelliptic heat equation. UR - http://hdl.handle.net/1963/2669 U1 - 1428 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - Optimal transportation under nonholonomic constraints JF - Trans. Amer. Math. Soc. 361 (2009) 6019-6047 Y1 - 2009 A1 - Andrei A. Agrachev A1 - Paul Lee AB - We study the Monge\\\'s optimal transportation problem where the cost is given by optimal control cost. We prove the existence and uniqueness of optimal map under certain regularity conditions on the Lagrangian, absolute continuity of the measures and most importantly the absent of sharp abnormal minimizers. In particular, this result is applicable in the case of subriemannian manifolds with a 2-generating distribution and cost given by d2, where d is the subriemannian distance. Also, we discuss some properties of the optimal plan when abnormal minimizers are present. Finally, we consider some examples of displacement interpolation in the case of Grushin plane. UR - http://hdl.handle.net/1963/2176 U1 - 2068 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - A Gauss-Bonnet-like formula on two-dimensional almost-Riemannian manifolds JF - Discrete Contin. Dyn. Syst. 20 (2008) 801-822 Y1 - 2008 A1 - Andrei A. Agrachev A1 - Ugo Boscain A1 - Mario Sigalotti AB - We consider a generalization of Riemannian geometry that naturally arises in the framework of control theory. Let $X$ and $Y$ be two smooth vector fields on a two-dimensional manifold $M$. If $X$ and $Y$ are everywhere linearly independent, then they define a classical Riemannian metric on $M$ (the metric for which they are orthonormal) and they give to $M$ the structure of metric space. If $X$ and $Y$ become linearly dependent somewhere on $M$, then the corresponding Riemannian metric has singularities, but under generic conditions the metric structure is still well defined. Metric structures that can be defined locally in this way are called almost-Riemannian structures. They are special cases of rank-varying sub-Riemannian structures, which are naturally defined in terms of submodules of the space of smooth vector fields on $M$. Almost-Riemannian structures show interesting phenomena, in particular for what concerns the relation between curvature, presence of conjugate points, and topology of the manifold. The main result of the paper is a generalization to almost-Riemannian structures of the Gauss-Bonnet formula. UR - http://hdl.handle.net/1963/1869 U1 - 2353 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - On feedback classification of control-affine systems with one and two-dimensional inputs JF - SIAM J. Control Optim. 46 (2007) 1431-1460 Y1 - 2007 A1 - Andrei A. Agrachev A1 - Igor Zelenko AB - The paper is devoted to the local classification of generic control-affine systems on an n-dimensional manifold with scalar input for any n>3 or with two inputs for n=4 and n=5, up to state-feedback transformations, preserving the affine structure. First using the Poincare series of moduli numbers we introduce the intrinsic numbers of functional moduli of each prescribed number of variables on which a classification problem depends. In order to classify affine systems with scalar input we associate with such a system the canonical frame by normalizing some structural functions in a commutative relation of the vector fields, which define our control system. Then, using this canonical frame, we introduce the canonical coordinates and find a complete system of state-feedback invariants of the system. It also gives automatically the micro-local (i.e. local in state-input space) classification of the generic non-affine n-dimensional control system with scalar input for n>2. Further we show how the problem of feedback-equivalence of affine systems with two-dimensional input in state space of dimensions 4 and 5 can be reduced to the same problem for affine systems with scalar input. In order to make this reduction we distinguish the subsystem of our control system, consisting of the directions of all extremals in dimension 4 and all abnormal extremals in dimension 5 of the time optimal problem, defined by the original control system. In each classification problem under consideration we find the intrinsic numbers of functional moduli of each prescribed number of variables according to its Poincare series. UR - http://hdl.handle.net/1963/2186 U1 - 2058 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - On finite-dimensional projections of distributions for solutions of randomly forced PDE\\\'s JF - Ann. Inst. Henri Poincare-Prob. Stat. 43 (2007) 399-415 Y1 - 2007 A1 - Andrei A. Agrachev A1 - Sergei Kuksin A1 - Andrey Sarychev A1 - Armen Shirikyan AB - The paper is devoted to studying the image of probability measures on a Hilbert space under finite-dimensional analytic maps. We establish sufficient conditions under which the image of a measure has a density with respect to the Lebesgue measure and continuously depends on the map. The results obtained are applied to the 2D Navier-Stokes equations perturbed by various random forces of low dimension. UR - http://hdl.handle.net/1963/2012 U1 - 2184 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - An estimation of the controllability time for single-input systems on compact Lie Groups JF - ESAIM Control Optim. Calc. Var. 12 (2006) 409-441 Y1 - 2006 A1 - Andrei A. Agrachev A1 - Thomas Chambrion AB - Geometric control theory and Riemannian techniques are used to describe the reachable set at time t of left invariant single-input control systems on semi-simple compact Lie groups and to estimate the minimal time needed to reach any point from identity. This method provides an effective way to give an upper and a lower bound for the minimal time needed to transfer a controlled quantum system with a drift from a given initial position to a given final position. The bounds include diameters of the flag manifolds; the latter are also explicitly computed in the paper. UR - http://hdl.handle.net/1963/2135 U1 - 2108 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - Experimental and modeling studies of desensitization of P2X3 receptors. JF - Molecular pharmacology. 2006 Jul; 70(1):373-82 Y1 - 2006 A1 - Elena Sokolova A1 - Andrei Skorinkin A1 - Igor Moiseev A1 - Andrei A. Agrachev A1 - Andrea Nistri A1 - Rashid Giniatullin AB - The function of ATP-activated P2X3 receptors involved in pain sensation is modulated by desensitization, a phenomenon poorly understood. The present study used patch-clamp recording from cultured rat or mouse sensory neurons and kinetic modeling to clarify the properties of P2X3 receptor desensitization. Two types of desensitization were observed, a fast process (t1/2 = 50 ms; 10 microM ATP) following the inward current evoked by micromolar agonist concentrations, and a slow process (t1/2 = 35 s; 10 nM ATP) that inhibited receptors without activating them. We termed the latter high-affinity desensitization (HAD). Recovery from fast desensitization or HAD was slow and agonist-dependent. When comparing several agonists, there was analogous ranking order for agonist potency, rate of desensitization and HAD effectiveness, with 2-methylthioadenosine triphosphate the strongest and beta,gamma-methylene-ATP the weakest. HAD was less developed with recombinant (ATP IC50 = 390 nM) than native P2X3 receptors (IC50 = 2.3 nM). HAD could also be induced by nanomolar ATP when receptors seemed to be nondesensitized, indicating that resting receptors could express high-affinity binding sites. Desensitization properties were well accounted for by a cyclic model in which receptors could be desensitized from either open or closed states. Recovery was assumed to be a multistate process with distinct kinetics dependent on the agonist-dependent dissociation rate from desensitized receptors. Thus, the combination of agonist-specific mechanisms such as desensitization onset, HAD, and resensitization could shape responsiveness of sensory neurons to P2X3 receptor agonists. By using subthreshold concentrations of an HAD-potent agonist, it might be possible to generate sustained inhibition of P2X3 receptors for controlling chronic pain. PB - the American Society for Pharmacology and Experimental Therapeutics UR - http://hdl.handle.net/1963/4974 U1 - 4799 U2 - Neuroscience U3 - Neurobiology U4 - -1 ER - TY - JOUR T1 - On curvatures and focal points of distributions of dynamical Lagrangian distributions and their reductions by first integrals JF - J. Dyn. Control Syst. 11 (2005) 297-327 Y1 - 2005 A1 - Andrei A. Agrachev A1 - Natalia N. Chtcherbakova A1 - Igor Zelenko AB - Pairs (Hamiltonian system, Lagrangian distribution), called dynamical Lagrangian distributions, appear naturally in Differential Geometry, Calculus of Variations and Rational Mechanics. The basic differential invariants of a dynamical Lagrangian distribution w.r.t. the action of the group of symplectomorphisms of the ambient symplectic manifold are the curvature operator and the curvature form. These invariants can be seen as generalizations of the classical curvature tensor in Riemannian Geometry. In particular, in terms of these invariants one can localize the focal points along extremals of the corresponding variational problems. In the present paper we study the behavior of the curvature operator, the curvature form and the focal points of a dynamical Lagrangian distribution after its reduction by arbitrary first integrals in involution. The interesting phenomenon is that the curvature form of so-called monotone increasing Lagrangian dynamical distributions, which appear naturally in mechanical systems, does not decrease after reduction. It also turns out that the set of focal points to the given point w.r.t. the monotone increasing dynamical Lagrangian distribution and the corresponding set of focal points w.r.t. its reduction by one integral are alternating sets on the corresponding integral curve of the Hamiltonian system of the considered dynamical distributions. Moreover, the first focal point corresponding to the reduced Lagrangian distribution comes before any focal point related to the original dynamical distribution. We illustrate our results on the classical $N$-body problem. UR - http://hdl.handle.net/1963/2254 U1 - 1993 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - On the local structure of optimal trajectories in R3 JF - SIAM J. Control Optim. 42 (2003) 513-531 Y1 - 2003 A1 - Andrei A. Agrachev A1 - Mario Sigalotti AB - We analyze the structure of a control function u(t) corresponding to an optimal trajectory for the system $\\\\dot q =f(q)+u\\\\, g(q)$ in a three-dimensional manifold, near a point where some nondegeneracy conditions are satisfied. The kind of optimality which is studied includes time-optimality. The control turns out to be the concatenation of some bang and some singular arcs. Studying the index of the second variation of the switching times, the number of such arcs is bounded by four. PB - SISSA Library UR - http://hdl.handle.net/1963/1612 U1 - 2506 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - Geometry of Jacobi Curves I JF - J. Dynam. Control Systems 8 (2002) 93-140 Y1 - 2002 A1 - Andrei A. Agrachev A1 - Igor Zelenko AB - Jacobi curves are deep generalizations of the spaces of \\\"Jacobi fields\\\" along Riemannian geodesics. Actually, Jacobi curves are curves in the Lagrange Grassmannians. In our paper we develop differential geometry of these curves which provides basic feedback or gauge invariants for a wide class of smooth control systems and geometric structures. Two principal invariants are the generalized Ricci curvature, which is an invariant of the parametrized curve in the Lagrange Grassmannian endowing the curve with a natural projective structure, and a fundamental form, which is a fourth-order differential on the curve. The so-called rank 1 curves are studied in more detail. Jacobi curves of this class are associated with systems with scalar controls and with rank 2 vector distributions.\\nIn the forthcoming second part of the paper we will present the comparison theorems (i.e., the estimates for the conjugate points in terms of our invariants( for rank 1 curves an introduce an important class of \\\"flat curves\\\". PB - Springer UR - http://hdl.handle.net/1963/3110 U1 - 1223 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - Geometry of Jacobi curves II JF - J. Dynam. Control Systems 8 (2002), no. 2, 167--215 Y1 - 2002 A1 - Andrei A. Agrachev A1 - Igor Zelenko PB - SISSA Library UR - http://hdl.handle.net/1963/1589 U1 - 2529 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - JOUR T1 - On the subanalyticity of Carnot-Caratheodory distances JF - Ann. I. H. Poincare - An., 2001, 18, 359 Y1 - 2001 A1 - Andrei A. Agrachev A1 - Jean-Paul Gauthier PB - SISSA Library UR - http://hdl.handle.net/1963/1483 U1 - 2680 U2 - Mathematics U3 - Functional Analysis and Applications ER - TY - CHAP T1 - Principal invariants of Jacobi curves T2 - Nonlinear control in the Year 2000 / Alberto Isidori, Francoise Lamnabhi-Lagarrigue, Witold Respondek (eds.) - Springer : Berlin, 2001. - (Lecture notes in control and information sciences ; 258). - ISBN 1-85233-363-4 (v. 1). - p. 9-22. Y1 - 2000 A1 - Andrei A. Agrachev A1 - Igor Zelenko AB - Jacobi curves are far going generalizations of the spaces of \\\"Jacobi fields\\\" along Riemannian geodesics. Actually, Jacobi curves are curves in the Lagrange Grassmannians. Differential geometry of these curves provides basic feedback or gauge invariants for a wide class of smooth control systems and geometric structures. In the present paper we mainly discuss two principal invariants: the generalized Ricci curvature, which is an invariant of the parametrized curve in the Lagrange Grassmanian providing the curve with a natural projective structure, and a fundamental form, which is a 4-oder differential on the curve. JF - Nonlinear control in the Year 2000 / Alberto Isidori, Francoise Lamnabhi-Lagarrigue, Witold Respondek (eds.) - Springer : Berlin, 2001. - (Lecture notes in control and information sciences ; 258). - ISBN 1-85233-363-4 (v. 1). - p. 9-22. PB - Springer UR - http://hdl.handle.net/1963/3825 U1 - 502 U2 - Mathematics U3 - Functional Analysis and Applications ER -