TY - GEN
T1 - Singular trajectories of driftless and control-affine systems
AU - Chitour, Yacine
AU - Jean, Frédéric
AU - Trélat, Emmanuel
PY - 2005/12/1
Y1 - 2005/12/1
N2 - We establish generic properties for singular trajectories, first for driftless, and then for control-affine systems, extending results of [17], [16]. We show that, generically - for the Whitney topology - nontrivial singular trajectories are of minimal order and of corank one. As a consequence, if the number of vector fields of the system is greater than or equal to 3, then there exists generically no singular minimizing trajectory.
AB - We establish generic properties for singular trajectories, first for driftless, and then for control-affine systems, extending results of [17], [16]. We show that, generically - for the Whitney topology - nontrivial singular trajectories are of minimal order and of corank one. As a consequence, if the number of vector fields of the system is greater than or equal to 3, then there exists generically no singular minimizing trajectory.
U2 - 10.1109/CDC.2005.1582278
DO - 10.1109/CDC.2005.1582278
M3 - Conference contribution
AN - SCOPUS:33847192533
SN - 0780395689
SN - 9780780395688
T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
SP - 940
EP - 944
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -