Singular reduction for nonlinear control systems (Q2507362)

In the paper nonlinear, finite-dimensional, continuous-time control systems are considered. First some results from differential geometry are recalled and discussed in terms of nonlinear control systems. Next regular and singular reductions of control systems are detaily investigated using the concepts of Lie group and differential spaces [see e.g. \textit{R. Sikorski}, Colloq. Math. 24, 45--79 (1971; Zbl 0226.53004)]. Moreover, using techniques of differential spaces in control theory, certain theorems on orbits of families of smooth vector fields are generalized to sub-Cartesian spaces [\textit{H. J. Sussmann}, Trans. Am. Math. Soc. 180, 171--188 (1973; Zbl 0274.58002)]. As an illustrative example a spherical pendulum linearly controlled by a vertical force is considered and discussed. Finally, many remarks and comments on the reduction theory for smooth nonlinear control systems are presented. It should be pointed out, that the reduction leads to a new control system with a lower dimensional state space, which is an important advantage of this method. The results of the paper extends some previous results on reductions given in the paper [\textit{A. J. van de Schaft}, SIAM J. Control Optim. 25, 245--259 (1987; Zbl 0616.49003)].