Switching in time-optimal problem: the 3D case with 2D control (Q2404237)

The time-optimal problem for the 3D affine control system with controls restricted in the unit disk is studied. It is shown that any time-optimal trajectory contained in a small neighborhood of a point in the system manifold (except a discrete subset of ``bad'' points) is bang-bang with no more than one switching. Sufficient conditions are provided, in terms of the Lie brackets of vector fields, determining whether the time-optimal controls are smooth or present isolated jump discontinuities. For the latter case, the jumps at the switching point are expressed in terms of Lie bracket relations.