{"entities":{"Q811462":{"pageid":813310,"ns":120,"title":"Item:Q811462","lastrevid":64514424,"modified":"2026-04-11T20:24:07Z","type":"item","id":"Q811462","labels":{"en":{"language":"en","value":"Geometric conditions for local controllability"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 4215804"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$F4D8E40F-2FCD-4B33-AD62-83D44B7547C4","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"f61379c954fcebf93de44d40bf486e798b6be1f9","datavalue":{"value":{"text":"Geometric conditions for local controllability","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q811462$0F8567F6-8017-461B-9AFF-97F1192A4C9F","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"dc537e291c097f97ae7260d027210cbd57e84cf0","datavalue":{"value":"0734.93016","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q811462$3A300151-33D7-4485-AD46-1718101FDEF8","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"45237105305cd274abbad9aae7799b4e89eb5c78","datavalue":{"value":"10.1016/0022-0396(91)90126-T","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q811462$1BA5B936-50EA-4E51-AE9F-82534CA82A19","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"dbc27535bfcb4e299a598bcfdfab0633ac07a0ef","datavalue":{"value":{"entity-type":"item","numeric-id":169790,"id":"Q169790"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$01C14360-CC56-4C01-84D4-F2C90ADA38D0","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"391107ffc7a24346d69c573e292e4ff4587e3aaa","datavalue":{"value":{"time":"+1991-00-00T00:00:00Z","timezone":0,"before":0,"after":0,"precision":9,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q811462$AC030670-9407-4672-AA42-B68AAB110DFC","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"4900f560135d39e9b575b96a9237b1d3bb018b14","datavalue":{"value":"C\\({}^ 1\\) affine control systems, with a generic drift vector field X and n-1 linearly independent input vector fields on an n-dimensional connected \\(C^ 1\\) manifold are considered. Local controllability of such systems is investigated and a geometric approach is proposed: the relative geometry of the drift vector field and the input vector fields is studied. Let H denote the set of points p where X(p) belongs to the hyperplane l(p) spanned by the input vector fields at the given point. It is shown that one has small time local controllability at p if the absolute values of the components of X, in the basis defined by the input vector fields, are less than or equal to the bounds on the controls at p and the hyperplane l(p) is not tangent to H. At the points of tangency, if the input vector fields generate an involutive distribution, it is shown that small time local controllability depends on the type of contact of H with l. An example is given where the proposed sufficient condition is useful whereas previously known sufficient conditions were not applicable.","type":"string"},"datatype":"string"},"type":"statement","id":"Q811462$27303FD8-11DA-4DB1-A50F-F873F441618C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"484eaf08775232cffaa1ce81f75027f82e88b5db","datavalue":{"value":"93B05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q811462$C2020B8B-0B97-4B2E-B6A2-12CD7F479322","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"216a608e3fa79d664fb5f28a72edf15852141160","datavalue":{"value":"93B27","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q811462$770FA381-2D42-4B2D-96A3-FCBC57D83BB9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q811462$9FD71B13-7E1E-4677-916B-B6E41A220020","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"12f4ef775241db836b790e1a9e28c9309aa22336","datavalue":{"value":"4215804","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q811462$4706040E-1C94-466F-A011-48CBC7EB2DCB","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d4fecf93fbff2b6bd26b894d882edb7b19ac9d95","datavalue":{"value":"affine control systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q811462$16CA842C-CBE3-45C9-99BE-6614EAA7FE3E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5eb493c074e1e3a8c703b7e82162b1a426d57158","datavalue":{"value":"local controllability","type":"string"},"datatype":"string"},"type":"statement","id":"Q811462$B7FF7AED-2816-4419-A48B-41DCD69AF102","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"4a7d78c226caa7a153aaad263916407bfd572d8b","datavalue":{"value":{"entity-type":"item","numeric-id":443175,"id":"Q443175"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$D0ACD00C-213F-4749-9D9F-F1640F4029FC","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"4446f9e4affa4cbb0a6dd112a59c62f2408e7a0d","datavalue":{"value":{"entity-type":"item","numeric-id":313145,"id":"Q313145"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$F5827C4A-01C2-457C-ACD0-5C7D15D4A391","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$2564E0B3-6D77-4AA3-9F34-CCF0D203F218","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"400b2146b60f44824a579eda88783576a637791e","datavalue":{"value":{"entity-type":"item","numeric-id":1090648,"id":"Q1090648"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$A4103006-C8A2-43A5-825F-DE995FEC27FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b1f024f52e1c8b168991919c4dc749ffd5bbaf9a","datavalue":{"value":{"entity-type":"item","numeric-id":5902845,"id":"Q5902845"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$EF5ED3C2-1ED1-488A-9220-CC33A02BA09A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"305e63e6a80da72804a60273bfa73999d68255d6","datavalue":{"value":{"entity-type":"item","numeric-id":759696,"id":"Q759696"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$B192596D-FF8B-4FF2-AAF1-C12DD88B914F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"35dcaa5713b145444567a88155fc9ac6f3aa54a7","datavalue":{"value":{"entity-type":"item","numeric-id":5562865,"id":"Q5562865"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$F296B32E-4DB7-45E0-95D5-A72DBD15CB71","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"43fc5d4c91cbe76b071a717e97c009fd1a6bb961","datavalue":{"value":{"entity-type":"item","numeric-id":4743396,"id":"Q4743396"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$040B324D-5199-4B69-A9F9-C42638DAD319","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"03d932314f86dedb70878b29900ce1ec422ff391","datavalue":{"value":{"entity-type":"item","numeric-id":1233635,"id":"Q1233635"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$F42F330B-C701-4AD5-813E-39CD50DE300C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"386b5cc9935fdc6c70365326ebf71a948f362680","datavalue":{"value":{"entity-type":"item","numeric-id":4173242,"id":"Q4173242"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$F0ACA27E-0E0C-4378-83AB-D095C84CD341","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3829656c242e69d78e819a79b7324512eefe180e","datavalue":{"value":{"entity-type":"item","numeric-id":3767188,"id":"Q3767188"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q811462$3A2CDD19-D4C4-4AC9-AF3C-529B3FDFD734","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9a2c8e0dafb2bb8ad24d35ac5018e30b693e9c8b","datavalue":{"value":{"entity-type":"item","numeric-id":583598,"id":"Q583598"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"844b9bca377121dd305ef46f9f4f00ead618528d","datavalue":{"value":{"amount":"+0.8794916272163391","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q811462$95217AC5-0007-4258-9A60-EF880E9E4E4A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fcfba9be498a714c5582224e145d625fb333be1d","datavalue":{"value":{"entity-type":"item","numeric-id":3768740,"id":"Q3768740"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e9c92007c5923c812191fac599df7e80540448b9","datavalue":{"value":{"amount":"+0.8564257025718689","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q811462$84D19124-0B09-429B-8F23-E4D8DABAF9F5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"aa3c8a10ec5f4a858e3ba78769c395ed0a285806","datavalue":{"value":{"entity-type":"item","numeric-id":805560,"id":"Q805560"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9a3aad1b1526e5fd8396798a943b9d92147f054f","datavalue":{"value":{"amount":"+0.8558169007301331","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q811462$2B3590E9-94DC-4498-AD3C-014A9FA47A79","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c2310348ef7a3e5bc23942244f5ff885c8b1ae68","datavalue":{"value":{"entity-type":"item","numeric-id":3767188,"id":"Q3767188"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5027b858e2cbfc4e20938a9ff65d0698af5921e3","datavalue":{"value":{"amount":"+0.8548671007156372","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q811462$A8285AC0-5783-4E90-8384-F995A33766EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2da8a6530a70b548552de9aa7542d17740a9e4c9","datavalue":{"value":{"entity-type":"item","numeric-id":5709186,"id":"Q5709186"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"83dd4a9c27acfd33d73ec556dc52e4beb4a65cdb","datavalue":{"value":{"amount":"+0.8515311479568481","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q811462$82182E9C-C4A3-4329-8EF5-009C0DB5DD17","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Geometric conditions for local controllability","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Geometric_conditions_for_local_controllability"}}}}}