Controllability and second-order necessary conditions for local infimum trajectories in optimal control (Q6049026)

A nonlinear control systems is considered on a finite time-interval in the presence of terminal constraints of inequality and equality type under the assumption that the dynamics and the terminal constraints are determined by twice continuously differentiable mappings. The concept for local controllability with respect to a function is defined and a sufficient condition for local controllability is obtained. Next, an optimal control problem of Mayer type is considered and a necessary optimality condition of second-order is proved. Two illustrative examples show the applicability of the obtained results. At last, two approximation lemmas are proved in an Appendix.