A lagrangian approach to extremal curves on stiefel manifolds

A unified framework for studying extremal curves on real Stiefel manifolds is presented. We start with a smooth one-parameter family of pseudo-Riemannian metrics on a product of orthogonal groups acting transitively on Stiefel manifolds. In the next step Euler-Langrange equations for a whole class of extremal curves on Stiefel manifolds are derived. This includes not only geodesics with respect to different Riemannian metrics, but so-called quasi-geodesics and smooth curves of constant geodesic curvature, as well. It is shown that they all can be written in closed form. Our results are put into perspective to recent related work where a Hamiltonian rather than a Lagrangian approach was used. For some specific values of the parameter we recover certain well-known results