Singular Aubry--Mather Sets for a Homogeneous Single-Input Control System

Abstract

We develop an Aubry--Mather theory for the abnormal arcs of a time-minimal single-input affine control system in dimension three with homogeneous cubic drift. We show that the Bonnard--Kupka semi-invariant defining the abnormal locus is a Darboux polynomial of the desingularized singular field, with an explicit cofactor; this gives the invariance of the abnormal locus, a closed formula for the multiplier of its periodic components and, through the antipodal symmetry of the model, their description as lifts of ovals of a real plane quintic. For a compact invariant set of a singular flow we then define a singular Aubry--Mather structure, whose Lagrangian is supported on the graph of the singular field and whose Hamilton--Jacobi equation is linear in the momentum. We prove a duality formula for the critical value, the existence of critical subsolutions strict outside the Aubry set, and the covariance of the structure under time changes. On the abnormal locus the structure selects the periodic components of minimal average cost, governs transverse stability, and exhibits a sharp obstruction to correctors along heteroclinic cycles; for the radial exponent of the homogeneous dynamics, the corrector is the periodic part of the logarithmic radius. An explicit cubic example illustrates the results.