Relative controllability of general nonlinear systems (Q1356921)

General, nonlinear time-varying, finite-dimensional, dynamical systems with distributed and lumped delays in the controls are considered. Using a variation of parameters formula and Schauder fixed point theorem, sufficient conditions for relative controllability in a given time interval are formulated and proved. These conditions require special assumptions on nonlinear perturbations and verification of the properties of a suitably defined controllability matrix for an associated linear dynamical system, with delays in the controls. Relationships to the existing results on relative controllability of nonlinear dynamical systems are also given. The results given extend to more general nonlinear dynamical systems sufficient relative controllability conditions presented in [\textit{J. Klamke}, Int. J. Control 31, 811-819 (1980; Zbl 0462.93009)].