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arXiv · 1909.01061

Fuller singularities for generic control-affine systems with an even number of controls

Francesco Boarotto·Yacine Chitour·Mario Sigalotti
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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.

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Francesco Boarotto, Yacine Chitour, Mario Sigalotti. 2019-09-03. Fuller singularities for generic control-affine systems with an even number of controls. https://arxiv.org/abs/1909.01061

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