Abstract

The convexity of a set of "control variations" is one of the crucial properties needed to prove sufficient controllability conditions or necessary optimality conditions. Heuristically, if one can construct control variations in all possible directions, then the considered control system is small-time locally controllable. As it was shown by R.-M. Bianchini and M. Kawski ["Needle variations that cannot be summed", SIAM J. Control Optimization 42 (2003) 218–238] the cones generated by needle variations may fail to be convex. The purpose of the present paper is to define a convex set of high-order control variations and to prove a sufficient controllability condition. The proof is based on a general Lie series formalism. One illustrative example is also presented.

Author information

Contact details are reproduced from the original publication and may be historical.

Mikhail Ivanov Krastanov

Faculty of Mathematics and Informatics, University of Sofia, James Bourchier Boul. 5, 1113 Sofia, Bulgaria
and: Institute of Mathematics and Informatics, Bulgarian Academy of Sciences, Acad. G. Bonchev Street - Block 8, 1113 Sofia, Bulgaria

krast@math.bas.bg

Keywords

  • High-order control variations
  • smooth control systems
  • small-time local controllability

Mathematics Subject Classification

93B05, 93C10

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Suggested citation

M. I. Krastanov. “On the Small-time Local Controllability.” Journal of Convex Analysis 19 (2012), No. 4, 1073–1090. https://doi.org/10.68381/jca19057

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Published by Heldermann Verlag, 2012. Rights now held by Banach Press.