Fuller singularities for generic control-affine systems with an even number of controls
Optimization and Control
2020-02-24 v2
Abstract
In this article we study how bad can be the singularities of a time-optimal trajectory of a generic control affine system. In the case where the control is scalar and belongs to a closed interval it was recently shown in [6] that singularities cannot be, generically, worse than finite order accumulations of Fuller points, with order of accumulation lower than a bound depending only on the dimension of the manifold where the system is set. We extend here such a result to the case where the control has an even number of scalar components and belongs to a closed ball.
Keywords
Cite
@article{arxiv.1909.01061,
title = {Fuller singularities for generic control-affine systems with an even number of controls},
author = {Francesco Boarotto and Yacine Chitour and Mario Sigalotti},
journal= {arXiv preprint arXiv:1909.01061},
year = {2020}
}