Singular velocities of even-rank affine distributions (Q2516972): Difference between revisions

The author studies singular velocities in affine distributions. Singular velocities are tangent vectors of singular curves determined by a distribution \(D^{\ell}\) in a manifold \(M^n\). Singular curves arise in problems on time optimal trajectories for control affine systems. The feedback equivalence of control affine systems requires a relation between affine distributions commonly established through invariants. The approach is typified by \textit{A. Agrachev} and \textit{I. Zelenko} [SIAM J. Control Optim. 46, No. 4, 1431--1460 (2007; Zbl 1140.93018)]. Generic \(D\) with \(n=4\) and \(\ell=2\) are determined by their singular velocites which form a classifiable rank 1 distribution. The author continues the approach in his thesis proving that generic \(D\) with \(n > \ell + 2\) and \(\ell\) even are spanned by their singular velocites. For \(\ell\) even and \(n=\ell + 2\), generic \(D\) may not be spanned by their singular velocities. However, in the present article the author shows that singular velocites determine \(D\). He proves that \[ D = C^D + [C^D,C^D] \] for generic \(D\) where \([\cdot,\cdot]\) denotes Lie bracket. Here \(C^D\) is the span of a canonical set of singular velocities. This result improves work in [\textit{B. Bonnard} and \textit{M. Chyba}, Singular trajectories and their role in control theory. Paris: Springer (2003; Zbl 1022.93003)] showing that affine distributions are determined by singular extremal, which are lifts of singular curves to \(T^*M\).