Convex hulls of surfaces with boundaries and corners and singularities of transitivity zone in \(\mathbb R^3\) (Q600727)

The authors consider control systems over a manifold defined by the differential equation \(\dot{x}=f(x,u)\), where \(f\) is a smooth mapping. The system, from a geometric point of view, is given by its indicatrices, namely the set of admissible velocities \(I_{x}=\{f(x,u)\}\) for every \(x\). Assuming that the indicatrix \(I_{x}\) is a smooth manifold with boundaries and corners imbedded in the vector space of tangent vectors at any point \(x\), the authors investigate its convex hull and its boundary. The results consist in the description of all generic singularities of the boundary of the local transitivity zone for two- and three-dimensional generic control systems admitting constraints given by equations and inequalities.