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Asymptotics of accessibility sets along an abnormal trajectory

Emmanuel Trélat
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Abstract

We describe precisely, under generic conditions, the contact of the accessibility set at time $T$ with an abnormal direction, first for a single-input affine control system with constraint on the control, and then as an application for a sub-Riemannian system of rank 2. As a consequence we obtain in sub-Riemannian geometry a new splitting-up of the sphere near an abnormal minimizer $γ$ into two sectors, bordered by the first Pontryagin's cone along $γ$, called the $\xLinfty$-sector and the $\xLtwo$-sector. Moreover we find again necessary and sufficient conditions of optimality of an abnormal trajectory for such systems, for any optimization problem.

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Emmanuel Trélat. 2006-07-18. Asymptotics of accessibility sets along an abnormal trajectory. https://arxiv.org/abs/math/0607425

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