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arXiv · 1907.02931

Singularities of optimal time control-affine systems: the limit case

M. Orieux·R. Roussarie
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Abstract

We study the singularities for minimum time control-affine problems in 4D with 2D controls. After regularization, the problem boils down to the study of a bifurcation around some nilpotent equilibrium in the singular locus. We show that the extremal flow - thus, the exponential map - is smooth on a stratification, and therefore piece-wise smooth.

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M. Orieux, R. Roussarie. 2020-11-03. Singularities of optimal time control-affine systems: the limit case. https://arxiv.org/abs/1907.02931

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