Dynamics of linear control systems on the group of proper motions (Q6145778)

The basic notions of control-affine systems, control sets, and linear control systems on the group of the proper motions \(SE(2)\) are introduced. Moreover, it is proved that any linear control system on \(SE(2)\) is conjugated to a control-affine system on the plane. The main result is a characterization of the possible control sets for linear control systems on \(SE(2)\). It is shown that one such system can have an infinite number of control sets with empty interior, or only one control set \(C_{SE(2)}\) with nonempty interior. Depending on the size of the control range, control sets with empty interior can appear on the boundary of \(C_{SE(2)}\) as a periodic orbit or as a continuum of one-point control sets.