Related papers: Jacobi Fields in Optimal Control I: Morse and Masl…
In this second paper of the series we specify general theory developed in the first paper. Here we study the structure of Jacobi fields in the case of an analytic system and piece-wise analytic control. Moreover, we consider only…
We associate curves of isotropic, Lagrangian and coisotropic subspaces to higher order, one parameter variational problems. Minimality and conjugacy properties of extremals are described in terms of these curves.
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…
Jacobi structures are known to generalize Poisson structures, encompassing symplectic, cosymplectic, and Lie-Poisson manifolds. Notably, other intriguing geometric structures -- such as contact and locally conformal symplectic manifolds --…
These are the notes of rather informal lectures given by the first co-author in UPMC, Paris, in January 2017. Practical goal is to explain how to compute or estimate the Morse index of the second variation. Symplectic geometry allows to…
We study the geometric nature of the Jacobi equation. In particular we prove that Jacobi vector fields (JVFs) along a solution of the Euler-Lagrange (EL) equations are themselves solutions of the EL equations but considered on a…
In this paper we give a geometric description of the Jacobi equations associated to a first-order Lagrangian field theory using a prolongation of the Lagrangian $L$ on a $k$-cosymplectic formulation. Moreover, using an appropriate…
We describe the relation between block Jacobi matrices and minimization problems for discrete time optimal control problems. Using techniques developed for the continuous case, we provide new algorithms to compute spectral invariants of…
Curves in Lagrange Grassmannians naturally appear when one studies intrinsically "the Jacobi equations for extremals", associated with control systems and geometric structures. In this way one reduces the problem of construction of the…
This paper describes the theory of Jacobi curves, a far reaching extension of the spaces of Jacobi fields along Riemannian geodesics, developed by Agrachev and Zelenko. Jacobi curves are curves in the Lagrangian Grassmannian of a symplectic…
Within the geometrical framework developed in arXiv:0705.2362, the problem of minimality for constrained calculus of variations is analysed among the class of differentiable curves. A fully covariant representation of the second variation…
The aim of this work is to study, from an intrinsic and geometric point of view, second-order constrained variational problems on Lie algebroids, that is, optimization problems defined by a cost functional which depends on higher-order…
We characterize the second variation of an higher order Lagrangian by a Jacobi morphism and by currents strictly related to the geometric structure of the variational problem. We discuss the relation between the Jacobi morphism and the…
The generalization of the Maupertuis principle to second-order Variational Calculus is performed. The stability of the solutions of a natural dynamical system is thus analyzed via the extension of the Theorem of Jacobi. It is shown that the…
We generalize the group law of curves of degree three by chords and tangents to the Jacobi variety of a hyperelliptic curve. In the case of genus 2 we accomplish the construction by a cubic parabola. We derive explicit rational formulas for…
In this paper, we review the discrete Hamilton--Jacobi theory from a geometric point of view. In the discrete realm, the usual geometric interpretation of the Hamilton--Jacobi theory in terms of vector fields is not straightforward. Here,…
Classical geometric mechanics, including the study of symmetries, Lagrangian and Hamiltonian mechanics, and the Hamilton-Jacobi theory, are founded on geometric structures such as jets, symplectic and contact ones. In this paper, we shall…
A Jacobi field on a Riemannian manifold M is defined along a geodesic. We generalize this notion to an arbitrary smooth curve, and call it an infinitesimal isometry along the curve. We give two approaches to this: 1) compute the complete…
Cosymplectic geometry has been proven to be a very useful geometric background to describe time-dependent Hamiltonian dynamics. In this work, we address the globalization problem of locally cosymplectic Hamiltonian dynamics that failed to…
We compute the Mordell-Weil groups of the modular Jacobian varieties of hyperelliptic modular curves $X_1(M, MN)$ over every number field which is the composition of quadratic fields. Also we prove criteria for the existence of elliptic…