Local controllability of nonlinear systems on surfaces
The author studies pairs of vector fields on a two-dimensional manifold. Under some technical (generic) assumptions, he proves that there is a stratification given by one stratum of dimension 2, two strata of dimension 1 and three types of strata of dimension zero. The pair of vector fields is not locally controllable on the two-dimensional stratum. It is small time locally controllable on one stratum of dimension 1, and not locally controllable on the other. Finally, the three types of zero- dimensional strata correspond to points where the pair is small time locally controllable, locally controllable but not small time locally controllable and not locally controllable, respectively. These results are applied to single-input and general nonlienar affine control systems in the plane. The approach followed in this paper is basically geometric and does not require strong differentiability assumptions. It is compared with the more classical Lie algebraic approach. The paper includes many examples.
- Local controllability of nonlinear systems: An example
- Controllability in codimension one
- A bound for the degree of nonholonomy in the plane
- Small time asymptotics on the diagonal for Hörmander's type hypoelliptic operators
- Local controllability in generic two-parameter families of bidynamical systems on the plane
- scientific article; zbMATH DE number 3943659 (Why is no real title available?)
- scientific article; zbMATH DE number 1048763 (Why is no real title available?)
- Local controllability of generic dynamic inequalities
- Controllability of kinematic control systems on stratified configuration spaces
- On the Number of Directions Needed to Achieve Controllability
- Local controllability in 3-manifolds
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